Preheat the oven to 350°F (175°C).

Place the chopped bacon in a large skillet over medium-high heat and cook for 5–7 minutes, stirring occasionally, until crisp and browned.

Add the ground beef to the skillet; break it up with a spoon and cook for 5–6 minutes until no pink remains.

Stir in the diced onion and sauté for 2–3 minutes until the onion is soft and translucent.

In a medium bowl, whisk together ketchup, brown sugar, apple cider vinegar, Worcestershire sauce, mustard powder, garlic powder, smoked paprika, black pepper, salt, and cayenne pepper to make the sauce.

Drain and rinse the pinto, black, and kidney beans; add them to the skillet and stir gently to combine.

Pour the prepared sauce into the skillet; stir until the meat and beans are evenly coated.

Transfer the mixture to a 9x13-inch baking dish, spreading it out in an even layer.

Bake uncovered at 350°F for 30–35 minutes, or until the beans are bubbling and the sauce has thickened slightly.

Remove from the oven and let the beans rest for 5 minutes before serving.