On the stovetop, cook chopped bacon in an oven-safe dutch oven until crispy over medium heat. Remove the bacon with a slotted spoon and place it on paper towels. Leave around 2 tablespoons of bacon fat in the pot.
Add onion to the bacon fat and cook on medium heat for 5 minutes until translucent. Stir in garlic for 1 minute. Combine pork and beans, ketchup, Worcestershire, mustard, vinegar, and brown sugar, then mix well. Sprinkle bacon on top, place in the oven, and bake for 45 minutes until bubbly. Serve warm.