In a large skillet, cook beef over medium heat until no longer pink; drain. Add the salsa, beans, vegetables, garlic and seasonings. Bring to a boil. Reduce heat; cover and simmer for 15 minutes.
Spread a fourth of the meat sauce in a 13x9-in. baking dish coated with cooking spray; top with four noodles. Repeat layers once. Top with half of the remaining sauce; sprinkle with half of the cheeses. Layer with remaining noodles, sauce and cheeses.
Cover and bake at 350° for 30 minutes. Uncover; bake 15-20 minutes longer or until heated through. Let stand for 15 minutes before cutting.