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In a bowl, combine soup, milk, soy sauce and pepper. Gently stir in beans. Spoon half of the mixture into a 13x9-in. baking dish. Sprinkle with half of the onions. Spoon remaining bean mixture over the top. Sprinkle with remaining onions., Bake at 350° until heated through and onions are brown and crispy, 30-35 minutes.