United States-Israel Cooperation Enhancement and Regional Security Act This bill authorizes various joint research and cooperation programs between the United States and Israel, reauthorizes security assistance to Israel, and establishes reporting requirements regarding various related issues. The bill authorizes the Department of State to work with Israel on research and development to establish directed energy capabilities. It authorizes through FY2024 cooperative projects involving the United States, Israel, and developing countries to identify and address sustainability challenges related to water resources, agriculture, and energy storage. The bill authorizes through FY2022 (1) activities of the U.S.-Israel Energy Center; (2) cooperation with and assistance to Israel related to security, explosives detection, and cybersecurity; (3) activities related to the U.S.-Israel Binational Agricultural Research and Development Fund; and (4) activities to establish a cooperative program with Israel to develop health technologies. The State Department shall establish a grant program to support cybersecurity research and development and commercialization of cybersecurity technology open to joint ventures involving U.S. and Israeli entities. The President shall establish contingency plans to provide Israel with necessary defense articles and services and assess plans to assist and supply Israel with munitions in the event of a sustained armed confrontation with Hezbollah. The bill authorizes the President to (1) waive export control requirements and immediately transfer defense articles to Israel in response to an existing or imminent military threat, and (2) transfer precision guided munitions to Israel as necessary for legitimate self-defense. The bill extends through FY2024 security assistance and loan guarantees for Israel.