Heat oil in large deep skillet over medium-high heat. Add onion and garlic; cook and stir 3 minutes. Add kidney beans, cannellini beans, bell pepper, brown sugar, ketchup, vinegar and mustard; mix well.

Trim fat from ham; cut ham into 1/2-inch pieces. Add ham to skillet. Reduce heat to low; simmer 5 minutes or until sauce thickens and mixture is heated through, stirring occasionally.