Trim large stems from broccoli rabe. Cut crosswise into bite-size pieces (about 2 inches long), rinse and place rabe in large pot. Add water to about half the height of the rabe, salt, bring to a boil and blanche until rabe reaches desired tenderness (up to 5 minutes). Remove rabe with slotted spoon, reserving water. Add enough water for pasta and return pot to stove to bring to boil.
Meanwhile, in a 2 qt. saucepan heat olive oil and add garlic, cooking until fragrant (about 2 minutes). Add juice from cannellini beans, cracked pepper and simmer on medium heat a few minutes until sauce begins to thicken. Add beans and continue simmering a few more minutes. Add chopped rabe to bean mixture. Cook for a few more minutes, or until desired tenderness.
When pasta is cooked, drain and put in large serving bowl, add rabe-cannellini mix and top with grated asiago cheese. Yum!