Cover a cookie sheet with aluminum foil and spray lightly with cooking spray.
In a large skillet, heat oil and add onion and garlic. Saute for about 5 minutes until soft.
Add beef and taco seasoning, cooking until meat is browned.
Add beans and 1 cup salsa. Mix well and let cook for a couple of minutes so that the flavors can meld and the mixture can thicken.
Spoon 2-3 tablespoons of the taco meat mixture into a tortilla, topped with some shredded cheese and roll it up.
Place taquito seam-side down on the baking sheet. Repeat with each taquito. Spray the top of each taquito with non-stick cooking spray and sprinkle with salt.
Bake for 15-20 minutes (or until edges and tops are golden). Let cool for a couple of minutes.