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Gather all ingredients. Preheat the oven to 350 degrees F (175 degrees C). Lightly grease a 2-quart baking dish.
Cook bacon and onion in a 10-inch skillet until onion is tender and bacon is crisp, 6 to 8 minutes. Add garlic and cook until fragrant, 1 minute more.
Transfer mixture to a large bowl. Add beans, honey, ketchup, mustard, Worcestershire sauce, cayenne pepper sauce, crushed red pepper, and black pepper; stir to combine.
Pour mixture into the prepared baking dish; cover with foil.
Bake in the preheated oven for 30 minutes. Remove foil and continue baking until mixture is hot and sauce is thickened and bubbly, about 30 minutes longer.