Preheat the oven to 350°F and prepare a 9x13-inch baking dish by lightly greasing it.

Cook the chopped bacon in a large skillet over medium heat until crisp, then remove with a slotted spoon and set aside, leaving about 2 tablespoons of bacon grease in the pan.

Add the ground beef to the skillet and cook until browned, breaking it apart as it cooks.

Stir in the diced onion and cook until softened, about 3–4 minutes, then add the garlic and cook for 30 seconds until fragrant.

Drain excess grease if needed, then return the cooked bacon to the skillet.

Add the baked beans, kidney beans, pinto beans, barbecue sauce, ketchup, brown sugar, mustard, Worcestershire sauce, smoked paprika, salt, and pepper, and stir until fully combined.

Pour the mixture into the prepared baking dish and spread evenly.

Bake uncovered for 45–60 minutes, or until hot and bubbling around the edges.

Let the beans rest for 5 minutes before serving to thicken slightly.