Goals from Pavel Kaderabek and Ihlas Bebou had the home side 2-0 ahead at the break, before a James Tavernier penalty reduced the deficet.
A fine header from Sam Lammers got Rangers back level midway through the second-half in their final outing ahead of the start of the Scottish Premiership next weekend.
Beale named Jack Butland in goal and a back four of James Tavernier, Leon Balogun, Johnly Yfeko and Ridvan. A midfield four saw Todd Cantwell and Abdallah Sima line-up either side of John Lundstram and Nico Raskin with Cyriel Dessers and Sam Lammers leading the line at the PreZero Arena.
New signing Danilo, who joined from Feyenoord yesterday, came straight into the matchday squad and was named on the bench alongside Jon McLaughlin, Kieran Wright, Ianis Hagi, Ryan Jack, Rabbi Matondo, Kieran Dowell, Dujon Sterling, Kemar Roofe and Borna Barisic.
There was an early chance for the home side as Marius Bulter released a shot at goal from inside the box which was matched by a strong block from goalkeeper Jack Butland. Grischa Promel followed up the rebound but his header was over the bar.
A free-kick for Hoffenheim saw a ball swung into the area by Angelo Stiller which made its way to Florian Grillitsch on the edge of the box but his strike was held by the Rangers number 1, before Tavernier had a shot wide of the target at the other end.
Rangers were building into this match and with 17 minutes on the clock, Sam Lammers did well to find the feet of Cyriel Dessers as he made a run into the box. The striker showed strength to see off a Hoffenheim defender and managed to get a shot away inside the area but it was saved by Baumann.
At the other end, Butland was called into action again as Angelo Stiller got on the end of a cross from Marius Bulter but the Gers’ keeper pulled off a fantastic block to deny the German side an opening goal.
However, with 23 minutes on the clock, the home side found the breakthrough as Andrej Kramaric picked out Pavel Kaderabek as he made a darting run into the area. Despite the efforts of the backtracking Todd Cantwell the Hoffenheim right-back found the net with a low strike.
Hoffenheim had a second goal before the break, as Andrej Kramaric again provided the assist as he delivered a ball across the face of goal which Ihlas Bebou tapped in from close range.
There was one change at the break for Rangers as Johnly Yfeko was replaced by Ryan Jack, with John Lundstram stepping back into the centre-back position alongside Leon Balogun.
Early in the second-half, Kaderabek again caused problems as he got a ball into the box in search of Kramaric but Balogun was on hand with a strong tackle to deny a shot at goal.
Rangers were awarded a penalty in the 57th minute as Cyriel Dessers did well to latch onto the ball inside the box before being brought down by Ozan Kabak. James Tavernier stepped up to the spot and sent the keeper the wrong way with a right-footed penalty.
With half an hour of the game remaining, Danilo was introduced for his Rangers debut alongside Kieran Dowell, with Cyriel Dessers and Todd Cantwell making way.
Beale’s men were back level following a fine attacking move from the Light Blues. Danilo touched the ball down into the path of Kieran Dowell who fed it out wide first time to James Tavernier. The captain delivered a fantastic cross into the box, which Sam Lammers got on the end of to glance beyond the goalkeeper.
A further two changes for Rangers saw Kemar Roofe and Ianis Hagi introduced in place of Abdallah Sima and Sam Lammers, before Dujon Sterling came on for his debut alongside Borna Barisic and Rabbi Matondo for the final 15 minutes.
Finn Ole Becker tried a shot from distance but failed to trouble Jack Butland as it drifted over the bar late in the match, before Rabbi Matondo had a low strike blocked by the Hoffenheim goalkeeper.
Rangers focus now turns to the start of the Scottish Premiership season with a trip to Kilmarnock to open the campaign.
RANGERS: Butland, Tavernier (Sterling, 75), Balogun (Barisic, 75), Yfeko (Jack, 46), Ridvan, Lundstram, Raskin (Matondo, 75), Cantwell (Dowell, 59), Sima (Roofe, 70), Lammers (Hagi, 70) , Dessers (Danilo, 59).
Subs: McLaughlin, K. Wright.
Hoffenheim: Baumann, Kaderabek, Kabak, Promel, Bebou, Grillitsch, Stiller, Bulter, Vogt, Brooks, Kramaric.
Subs: Philipp, Beier, Justvan, Samassekou, Becker, John, Akpoguma, Skov, Conte, Nsoki, Damar, Bischof, Szalai, Qaurshie.