Fill a large pot with water, add a generous pinch of salt, and bring it to a boil over high heat.

While the water heats, drain and rinse the cannellini beans in a colander and thinly slice the garlic cloves.

Add the rigatoni to the boiling water in the pot and cook for 2 minutes less than the package directions suggest so the pasta stays firm. Cook it 1 to 2 minutes less than the package directions so it stays quite firm; it will finish cooking in the sauce.

Before the pasta is fully cooked, carefully scoop out about 1/2 cup of the starchy pasta water and set it aside.

Add a splash of the reserved pasta water and toss until the sauce loosens enough to coat the noodles evenly.

While the pasta cooks, heat the olive oil in a large skillet over medium heat.

Add the sliced garlic and red pepper flakes and cook for 1 minute until fragrant.

Pour the crushed tomatoes and the drained cannellini beans into the skillet and stir in the balsamic vinegar, salt, and black pepper.

Simmer the sauce over medium-low heat for about 8 to 10 minutes, stirring occasionally, until it thickens slightly.

Drain the cooked pasta in a colander and transfer it to the skillet with the sauce.

Remove the skillet from the heat and stir in half of the Parmesan cheese and most of the torn basil.

Serve with the remaining cheese and basil on top.