Heat vegetable oil in a large oven-safe skillet over medium heat for about one minute. Diced onion goes in first because raw onion brings a bite that mellows once it softens, transforming into sweetness that balances the tang—this is non-negotiable for the layered flavor you're after.

Add minced garlic and cook for exactly 60 seconds, stirring constantly. I always confess I used to skip this step and dump garlic in with the beans, but those thirty seconds of aromatic blooming in hot oil make a genuinely noticeable difference in the final depth.

Stir in smoked paprika and mustard powder, coating the softened onions and garlic completely. Let the spices toast for another 30 seconds because this builds the smoky foundation that makes people think you've been tending a real smoker all afternoon.

Pour in both cans of drained navy beans, ketchup, brown sugar, apple cider vinegar, Worcestershire sauce, and liquid smoke. Stir until everything combines, then taste the raw mixture—it should taste boldly seasoned because the oven bake will mellow the edges slightly.

Transfer the skillet to a 375°F oven for exactly 35 minutes (or if using a regular baking dish, cover loosely with foil). Don't cover completely because you want gentle evaporation, which concentrates flavors rather than steaming them into submission.

At the 20-minute mark, stir the beans once and add salt. I check here because the beans settle unevenly and benefit from a gentle redistribution that ensures even heat distribution throughout.

Remove from the oven when the sauce coats the back of a spoon and the edges bubble slightly—you'll see oil pooling at the surface, which signals the beans are perfectly done. This easy baked beans family version should have a glossy, clingy sauce, not a soupy pool or a crusty top.