Well, after checking the index, I discovered that a full four pages were devoted to green beans, both sauteed and roasted. The common problem they saw with the former was that by the time the beans were cooked, the outsides were usually black and burnt. Their solution? Saute the green beans for six minutes, add a small bit of water and cover the pan, thus steaming them for two minutes, then uncover and turn up the heat to evaporate any leftover water, and finish sauteeing along with the flavorings/spices for two more minutes. The result? Perfection. Just the right amount of browning and wrinkling, fully cooked, yet still with a crisp bite.
Luckily for you, this recipe (along with variations, but without the long explanation of the recipe's development) is online! I made the first variation, with smoked paprika and almonds.
Cook's Illustrated Sauteed Green Beans with Garlic and Herbs