Cook pasta in a large saucepot according to package directions. Place escarole in a colander and drain pasta over the leaves. Return cooked pasta and escarole to pot.
In the meantime, saute garlic in oil over medium heat in a large skillet until tender. In a separate bowl, blend chicken broth with flour, then pour into the skillet. Add drained beans and cook, stirring occasionally, until mixture boils and thickens.
Add broth mixture to the pasta and escarole, tossing well. Season with cheese, salt, and pepper.