Preheat oven to 450°. Mix first 5 ingredients in medium bowl. Pour 1 teaspoon spiced oil mixture into small bowl; whisk in yogurt and set aside for sauce. Place chicken on large rimmed baking sheet. Rub 2 tablespoons spiced oil mixture over chicken. Add beans, tomatoes, and 1/2 cup cilantro to remaining spiced oil mixture; toss to coat. Pour bean mixture around chicken. Sprinkle everything generously with salt and pepper.
Roast until chicken is cooked through, about 20 minutes. Sprinkle with 1/2 cup cilantro. Transfer chicken to plates. Spoon bean mixture over. Serve with yogurt sauce.