Preheat the oven to 400°F.Heat an oven-safe 5-quart pot over medium-high heat; add chopped bacon and cook until crispy, about 3 to 5 minutes, stirring occasionally. Turn the heat down to medium, add the onion and cook until softened, but not browned, about 5 minutes, stirring frequently.
Add the garlic and cook 30 seconds, stirring constantly.
Add the stock, ketchup, maple syrup, vinegar, molasses, soy sauce, Worcestershire sauce, Dijon, and black pepper. Bring up to a boil, and then turn off the heat and stir in the beans.
Cover the pot and bake for 30 minutes. Give the beans a stir, and then bake (uncovered) for 15 minutes more. Serve warm.