Preheat the oven to 350ºF. Cut the bacon into 1-inch pieces and cook in a skillet over medium heat until brown and crispy. Drain off all but 1-2 Tbsp of the bacon fat.
Drain the canned beans well, then add them to the skillet and stir to combine with the bacon.
Add the remaining ingredients: tomato sauce, tomato paste, apple cider vinegar, brown sugar, molasses, Dijon, Worcestershire sauce, smoked paprika, garlic powder, onion powder, cayenne and black pepper. Stir until everything is very well combined.
Bake the beans for 60-75 minutes, stirring once at 30 minutes and again at 60 minutes. If the sauce is thick at 60 minutes, it's done. If it's still a bit runny, bake 10-15 minutes longer.