Preheat oven to 350°F (175°C).
Cook chopped bacon in a skillet over medium heat until crispy.
Remove bacon and set aside, leaving rendered fat in the pan.
Add chopped onion to the skillet and sauté until soft.
Stir in maple syrup, ketchup, brown sugar, mustard, and vinegar.
Add cooked beans, smoked paprika, salt, and black pepper.
Mix in the cooked bacon until well combined.
Transfer mixture to an oven-safe baking dish.
Bake uncovered for 1 hour, stirring once halfway through.
Remove from oven and let rest for a few minutes before serving.