Bring a large pot of lightly salted water to a boil. Add pasta and cook according to package directions, about 10 minutes. Drain, reserving 1/2 cup of the pasta water.
Meanwhile, cook bacon in a large lidded skillet over medium-high heat for 8 to 9 minutes until crispy. Remove with a slotted spoon and reserve 3 tbsp of the drippings in the pan.
Set drippings over medium heat and add garlic. Cook 1 minute. Add escarole and cook, stirring occasionally, partially covered, for 5 minutes. Uncover and stir in beans, bacon, salt and pepper. Heat through, adding reserved pasta water if dry.
Place pasta on a platter and add escarole mixture. Top with Parmesan.