These baked beans with ground beef and bacon are an adapted version of the Roosevelt Baked Bean recipe from Yellowstone National Park's Old West Dinner Cookout.
Heat a Dutch oven (or large oven-proof skillet) over medium heat and add ground beef and diced bacon. Cook until the ground beef is no longer pink. Add the onions and sauté until softened.
Drain any grease and add the beef mixture back to the pot.
Add the canned beans and remaining ingredients to the pot. Stir well to combine.
Bake for 45 minutes at 325 degrees, or simmer on the stovetop for 1 hour.
Notes
For a thicker casserole, drain the butter beans and limas before adding them to the pot.