Add the drained navy beans, cooked bacon, diced onion, ketchup, molasses, yellow mustard, apple cider vinegar, Worcestershire sauce, garlic powder, paprika, salt, and pepper to the crockpot.
Stir everything together until the beans are evenly coated in the sauce.
Cover and cook on low for 4-5 hours or on high for 2-3 hours, stirring once or twice if possible.
If the beans look too thin, remove the lid during the last 30 minutes of cooking to let the sauce thicken.
Taste and adjust the salt, pepper, mustard, or vinegar if needed before serving.
Drain the beans well: Since this recipe uses canned navy beans, draining them helps keep the sauce thick instead of watery.
Cook the bacon first: Cooked bacon adds better flavor and texture than adding raw bacon directly to the crockpot.
Dice the onion small: Smaller pieces soften better as the beans cook and blend into the sauce more evenly.
Let the sauce thicken if needed: If the beans look too thin near the end, remove the lid for the last 30 minutes so some of the liquid can cook off.
Adjust the sweetness and tang: Add a little extra molasses if you like sweeter baked beans, or a splash more apple cider vinegar or mustard if you want more tang.