Heat oil in 12” skillet over medium-high heat. Add sausage. Cook until golden brown all over, about 3 minutes; transfer to plate and cut into ½” slices. Add celery, onions and peppers to same skillet. Cook, stirring occasionally, until vegetables are soft, about 5 minutes more.
Add contents of yellow rice mix, 2 cups water and reserved sausage to skillet. Bring water to boil. Reduce heat to medium low. Simmer, covered, until rice is tender and water is absorbed, about 25 minutes, stirring in beans after 20 minutes.
Remove pot from heat. Stir gently to combine. Serve warm.