Prepare pan: Preheat oven to 350°F. Grease an 11- x 7-inch baking dish with cooking spray.
Cook bacon: Cook bacon in a skillet over medium-high heat 4 minutes; drain, reserving 1 teaspoon drippings in skillet.
Cook onions: Sauté onion in hot bacon drippings 7 minutes or until tender.
Mix remaining ingredients: Stir together pork, onions, beans, and next 5 ingredients in a lightly greased 11- x 7-inch baking dish. Top bean mixture with bacon.
Bake baked beans: Bake at 350°F for 45 minutes or until bubbly.
