One of the tastiest good-for-you recipes is Senate Bean Soup, which you can make in a crock pot. I like to substitute turkey ham for the fattier pork in the recipe. The one I use is from my Rival Crock Pot booklet, but here is a similar version:
http://www.recipelink.com/mf/31/16516 I read somewhere that there is no longer any need to soak beans, and I usually just cook them without soaking. Do not add other ingredients until they are tender because some things can toughen the beans.
If you're in a hurry use two cans of beans and puree one in the food processor or blender to give the soup a nice, thick texture. Don't drain either can. Saute the onions, celery and garlic with diced cooked ham until a little browned and tender, and the beans and seasonings and you've got soup.