Preheat your oven to 350°F (175°C). This gives you time to prepare everything without rushing.
Place a large skillet over medium heat. If your ground beef is lean, add a tablespoon of olive oil to the pan.
Add the chopped onion and cook for 2–3 minutes until it starts to soften. Stir often so it doesn’t brown too quickly.
Add the minced garlic and cook for about 30 seconds, just until fragrant.
Add the ground beef to the skillet. Break it up with a spoon and cook until browned and no longer pink. Drain excess grease if needed.
Reduce the heat to low. Stir in the ketchup, brown sugar, mustard, Worcestershire sauce, smoked paprika, black pepper, salt, and chili powder. Let this simmer for 2–3 minutes so the flavors start to blend.
Gently fold in the baked beans, making sure everything is well combined without mashing the beans.
Transfer the mixture to an oven-safe baking dish. Spread it out evenly.
Bake uncovered for 35–45 minutes, until bubbly and slightly thickened. If you like a softer texture, cover loosely with foil for the first 20 minutes.
Remove from the oven and let it rest for 5 minutes before serving.