Preheat your oven to 350°F. While it heats, cook the diced bacon in a large oven-safe skillet over medium heat, stirring occasionally, until the edges are crispy and the fat has rendered, about 8-10 minutes. Remove the bacon with a slotted spoon and set aside, leaving about 2 tablespoons of bacon fat in the pan. Add the diced onion to the rendered fat and sauté for 5 minutes, stirring occasionally, until softened and starting to caramelize slightly—this builds a sweet, savory foundation for the dish.

Add the pork and beans (with liquid) to the skillet with the cooked onions and bacon fat. Stir in the ketchup, packed brown sugar, drained pineapple tidbits, yellow mustard, apple cider vinegar, salt, black pepper, smoked paprika, and Worcestershire sauce. Mix everything together thoroughly until the sugar is dissolved and the ingredients are evenly distributed. I like to taste a small spoonful at this point to check the balance—if you want more sweetness, add a tablespoon more brown sugar; if you want more tang, add another splash of vinegar.

Transfer the skillet to the preheated 350°F oven and bake uncovered for 1 hour. The mixture will bubble gently around the edges, the sauce will reduce and thicken slightly, and the flavors will meld together beautifully. I've found that leaving it uncovered allows the top to develop a slightly caramelized layer, which adds depth. If your skillet isn't oven-safe, transfer the mixture to a 9x13-inch baking dish before baking.

Remove the baked beans from the oven and let cool for 5 minutes—this allows the sauce to set slightly and makes serving easier. Stir gently, taste, and adjust seasonings if needed. Serve warm as a side dish.