Chop the bacon into bite-sized pieces and cook it in a large pot or Dutch oven over medium-high heat, stirring occasionally, until crispy and the fat has rendered—about 8-10 minutes. Transfer the cooked bacon to a bowl, leaving the bacon fat in the pot. Add the diced onion to the hot fat and sauté for 5-6 minutes until softened and beginning to caramelize. Stir in the minced garlic and cook for 1 minute until fragrant. I like to let the garlic bloom in the fat like this because it mellows out its raw bite and creates a richer base for the entire dish.

Add the ground beef to the pot with the aromatics and cook over medium-high heat for 6-8 minutes, breaking it apart with a spoon as it cooks, until it's fully browned and any moisture has evaporated. Return the cooked bacon to the pot and stir to combine all the proteins together. This creates a flavorful foundation where the meaty, smoky elements work together.

Add all three types of rinsed and drained canned beans (kidney, cannellini, and black beans) along with the canned baked beans and their liquid to the pot. Pour in the apple cider vinegar, ketchup, yellow mustard, Worcestershire sauce, and brown sugar. Stir everything together thoroughly to distribute the sauce evenly throughout. I find that mixing the sauce ingredients directly into the pot rather than pre-combining them helps ensure the flavors integrate better as everything heats together.

Stir in the smoked paprika and taste the mixture, adjusting seasonings as needed. Transfer the bean mixture to a baking dish (a 9x13 inch dish works well) or keep it in your Dutch oven if it's oven-safe. Cover with foil or a lid and bake at 350°F for 1 1/2 hours, stirring halfway through, until the flavors have melded and the mixture is heated through. Alternatively, transfer to a slow cooker and cook on low for 2 hours. The extended cooking time allows the acidity of the vinegar to round out and the spice from the paprika to fully develop throughout the beans.