Bean Bags need much more space, and IIRC, "Rubber Bullets" are lethal at pistol distance. You might be able to find a rubber projectile meant to be used in 9x19, but with a round that has so little mass, there would be little chance that it would cycle the action. You would be stuck with no way to immediately follow up with lethal rounds. Also considering we're talking about .357sig, I imagine that rubber rounds would come apart under the pressures, even if there were a projectile heavy enough.
My suggestion would be a much more traditional less-lethal like pepper spray. It would have MUCH less risk of being lethal than a rubber, and could be used earlier in a confrontation than a "GUN", even a gun loaded with rubbers.
Picture this: Some A$$hole follows you and your wife to the mall after a traffic near-miss, and he confronts you on the front steps. Words are exchanged and he proceeds to get into an ass kicking contest with you. Being honest with yourself, You know your gonna lose some teeth to this degenerate, but he ain't exactly proved to be a deadly threat, at least not yet. If you pull your concealed pistol and pop him one in the thigh, the witness testimony is not going to look good for you. Especially if at pistol distance it penetrates his leg, and hits something expensive, like a major blood vessel.
On the other hand you hit him in the face with a good solid spray of O.C. , and maybe another good squirt just for kicks as he cusses you, swinging blindly at thin air. I imagine the paperwork would be alot less for you, and if he turns out to have a pistol or other lethal weapon, his lawyer won't be able to say you pulled a pistol first, and he pulled in self defence.
Alot of people don't like the idea of carrying pepper spray, not being manly and all, but there are some situations that would be best solved without clearing leather if possible.
Tex78