Coat a large nonstick skillet with cooking spray; heat over medium-high heat. Cook polenta slices in hot skillet about 6 minutes or until golden brown, turning once halfway through cooking time. Meanwhile, for sauce, in a microwave-safe medium bowl stir together tomatoes and tomato paste. Stir in black beans. Cover; microwave on 100 percent (high) power about 2 minutes or until hot. Set aside.
Grease a large skillet; add 1-1/2 to 2 inches of water to skillet. Bring water almost to boiling over medium-high heat. Stir in vinegar. Reduce heat until gently simmering. Break eggs, one at a time, into a small bowl or cup; gently slip each egg into the simmering water. Poach eggs for 4 to 6 minutes or until desired doneness, spooning water over eggs the last half of cooking time. Remove eggs with a slotted spoon.
To serve, place two slices of the fried polenta on each of four serving plates. Ladle one-fourth of the sauce over each serving. Top each with a poached egg and some of the cilantro. If desired, sprinkle with pepper.