PLACE 1 can of beans with liquid and broth in blender or food processor; cover. Blend until smooth. Coat large saucepan with cooking spray. Heat over medium-high heat. Add onion and garlic; cook for 4 to 5 minutes or until onion is tender.
ADD blended bean mixture, remaining beans and liquid, salsa, lime juice, cumin and crushed red pepper. Bring to a boil. Reduce heat to low; cover. Cook, stirring occasionally, for 25 to 30 minutes. Serve topped with yogurt. Garnish with cilantro.