Fold a 30-by-12-inch piece of aluminum foil in half to make a 15-by-12-inch piece. Place beans, garlic, chopped onions, olive oil and ice cubes in center of foil. Bring together opposite edges of foil. Seal with a double fold, making a dome for steam to build up. Fold remaining edges together to enclose beans.
Grill packet over medium heat. Grill uncovered for about 20 minutes. Carefully open packet and gently stir bean mixture. Leave packet open and return to grill for about 5 minutes or until crisp-tender.
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