Step 1

Preheat oven to 350°F. Place bacon slices in a single layer in a 12-inch skillet. Cook over medium-low, flipping occasionally, until browned and crisp, 10 to 12 minutes. Transfer bacon to a plate lined with paper towels; reserve drippings in skillet.

Step 2

Increase heat under skillet to medium, and add ground beef. Cook, stirring occasionally, until beef is crumbly and just browned, about 6 minutes. Remove from heat. Push beef to one side of skillet; tilt skillet to let drippings drain to empty side. Using paper towels, carefully soak up drippings; discard.

Step 3

Return skillet to heat over medium, and add onion, garlic, salt, and pepper. Cook, stirring occasionally, until onion is softened, about 5 minutes. Add barbecue sauce, brown sugar, vinegar, paprika, and cinnamon; stir until well combined. Stir in baked beans, and bring mixture to a simmer over medium, stirring often. Pour mixture into a 2 1/2-quart baking dish.

Step 4

Bake beans, uncovered, in preheated oven until bubbling in center, about 50 minutes. Crumble bacon evenly over top, and bake 10 minutes. Let cool 10 minutes before serving.