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Rinse the navy beans well and remove any debris.
In a large pot, cover the beans with water and bring to a boil. Remove from heat, cover, and let sit for 1 hour.
Drain and rinse the beans, then simmer in fresh water for 20–30 minutes. The beans should be tender but not fully cooked.
In a separate large pot, combine tomato juice, tomato sauce, chopped onion, brown sugar, molasses, vinegar, and spices.
Simmer over medium heat for 5 minutes, stirring occasionally, until the mixture is well blended.
Sterilize your canning jars.
Add 1 ½ cups of partially cooked beans to each quart jar.
Pour the hot sauce over the beans, leaving a 1-inch headspace. Remove air bubbles and top off with more sauce if needed.
Wipe the rims clean and place the lids on securely (but not overly tight).
Process jars in a pressure canner at 10 pounds of pressure—90 minutes for quarts, 75 minutes for pints.
Allow jars to cool completely. Check the seals (they should not flex when pressed).
Store in a cool, dark place for up to 1 year.