In a small bowl, combine the garlic, salt, onion, and vinegar. Season with the pepper, then whisk in the oil.
Place the beans in a large bowl. Pour ¾ of the dressing over them. Add the chipotle and cilantro. Toss, cover, and set aside.
Preheat grill pan over medium heat.
Toss the escarole with the remaining dressing. Grill for 3 minutes, turning constantly, until just wilted and golden.
Serve with the beans, guacamole, avocado, and lime wedges.