Spray cold grate of outdoor grill with grilling spray. Prepare grill for medium heat. Brush corn with 1 tablespoon of the oil. Grill corn and franks 10 minutes, or until corn is tender and franks are hot.
Heat the remaining 1 tablespoon oil in medium saucepan over medium-high heat. Add onion; cook and stir 3 minutes. Stir in bell pepper; cook and stir 2 minutes. Add beans and salsa. Cover; simmer 5 minutes, or until heated through.
Cut corn from cobs; discard cobs. Stir corn into bean mixture. Serve with grilled franks. Top with cilantro, if desired.