Sweet and Tangy Baked Beans

Ingredients 4 slices bacon, diced 1 medium onion, chopped 2 cloves garlic, minced 3 cans (15 ounces each) navy beans or great northern beans, drained and rinsed 1/2 cup ketchup 1/4 cup molasses 1/4 cup brown sugar, packed 2 tablespoons apple cider vinegar 1 tablespoon yellow mustard 1/2 teaspoon smoked paprika