Cook garlic in olive oil in a medium pot over moderately high heat, stirring, until golden, 1 to 2 minutes. Coarsely cut up tomatoes in can with kitchen shears, then add (with juice) to garlic in oil. Stir in broth, beans, ham, and pepper and bring to a boil. Reduce heat and simmer, uncovered, 5 minutes. Stir in arugula and cook until wilted (1 minute).
While stew is simmering, put bread on a baking sheet and drizzle with remaining olive oil. Put on top rack of oven and broil for 3-4 minutes.
Serve stew with toasts. Also goes great with a side of arugula salad.