In a large skillet bring the olive oil to high heat. Add in the garlic and sauté until golden, about 1-2 minutes. Next, add in the escarole, salt, and ground black pepper and sauté for 5 minutes, mixing occasionally.
Next, add in the cannellini beans with liquid and sauté for 5 minutes, mixing occasionally.
Add in the vegetable broth, bring to a simmer and cook for 5 minutes, mixing occasionally, or until the escarole stems are tender.
Continuing on medium heat, add in the pasta, pasta water, and grated cheese. Cook for 5 minutes, mixing occasionally.