Remove casings from sausage. Heat a large Dutch oven over medium-high heat. Coat pan with cooking spray. Add sausage, onion, and garlic to pan; sauté minutes or until onion is tender, stirring to crumble sausage. Add venison; cook 4 minutes or until venison is browned. Stir in tomato paste; cook 3 minutes, stirring occasionally. Add chicken broth and next 5 ingredients (through cumin), scraping pan to loosen browned bits; bring to a boil. Cover, reduce heat, and simmer 1 hour and 15 minutes or until venison is tender. Stir in black beans; cook 10 minutes or until thoroughly heated. Top each serving with crumbled goat cheese. Serve with jalapeño slices, if desired.