Implemented as --list-duplicate-vars in the December 9 development build. Sample workflow, if you don't have multiple variants with the same ID:
plink --bfile my_dataset --list-duplicate-vars ids-only suppress-first --out tmp
plink --bfile my_dataset --exclude tmp.dupvar --recode vcf-iid --out vcf_format
java -jar beagle.r1398.jar gt=vcf_format.vcf ...