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Brown the ground beef, drain and set aside.
Cook the bacon until crispy in the oven or in a skillet. Let cool then crumble or chop into small pieces.
In a large mixing bowl (or in the slow cooker), combine the beans, ground beef, bacon, onions, sugar, brown sugar, ketchup, mustard and vinegar.
Cook the beans: In a slow cooker on high for 1 hour (stirring occasionally) or low for 2-3 hours OR In a saucepan on medium-low heat for 30 minutes (stirring occasionally) OR In a baking dish in a 350°F oven for 1 hour.