Abdallah Sima and Rabbi Matondo were on target for Rangers as the UEFA Champions League play-off first leg finished level ahead of next week’s return match in Holland.
The manager was happy with the energy his side showed, but admitted some frustration at conceding a set-piece late in the match.
Speaking to RangersTV following the game, he said: “I thought at times we played really well, when we were suffering defensively we had to work extremely hard and I thought the team did that - I thought they showed a lot of togetherness.
“We scored two fantastic goals. I am delighted for Abdallah Sima and Rabbi Matondo. It is Rabbi’s first goal and of late he has found a real rich vein of form.
“There's a tinge of regret because the second goal is from a set-play and then after that we have a huge chance where we can score with Danilo but what that shows is we can create chances.
“The games against teams at elite level are never perfect, there are times in the game where I'd like to see us stay with the ball a little bit more and show a little bit more composure but all in all I thought the team put everything into the game tonight and that is what we demand from them.
“I think you could see everyone gave everything to the cause and next week everything is to play for, we know we can hurt them and they know we can hurt them as well.”
Beale believes Rangers can take confidence from their performance as they head for Philips Stadion on Wednesday evening but knows attention must be on Ross County in the Scottish Premiership on Saturday.
He continued: “It is a new team, and we have got new players. I thought Cyriel Dessers was excellent. He backed into the centre halves, but he got us up the pitch. At times I would like people to get closer to him.
“He gets an assist for the first goal, it is a wonderful finish from Abdallah, that's what he can bring. He is a number nine who can play wide on the right, or wide on the left. He can run, he is strong, he is good in the air and that was a wonderful goal from him.
“For Rabbi’s goal, Todd [Cantwell] won the ball in midfield and it was a good pass to Cyriel, but his footwork and pass was perfect for Rabbi, and it was a cool finish. At that stage we have the game where we want it and that is where the tinge of frustration is, but we have got to let that go, we need to reset and we need to make sure we perform strongly this weekend at Ross County because it is a big game for everybody.
“Then we will go across to Eindhoven with the fans and we are going to play a cup final. It is a one-off game and if anyone doubts us then that will be more fool them because we will go over there with every confidence we can get this job done.
“They have got good players and we knew we had to defend strongly but our frustration is maybe that in the most part of the game Jack [Butland] had very little to do in terms of saves.
“To concede off a set-play is really disappointing because we had the game where we wanted it to be, but it is fine margins and I'll back our boys next week if we get set-plays to go and even that up.”