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Place the dried navy beans in a 4-quart (4 L) Dutch oven. Cover the beans with cold water and let them soak for eight hours.
Drain and rinse the beans with cool water. Place the drained beans back in the pot and cover them with 6 cups of fresh cold water. Bring the beans to a boil over medium-high heat then add the baking soda. Reduce the heat, place the lid on the pot, and simmer the beans for 30 minutes until tender.
Preheat the oven to 250ºF (120ºC).
Drain the cooked beans into a colander fitted over a large bowl or other vessel. Once drained you should have about 3-1/2 cups (875 ml) of cooking liquid in the bowl. Rinse the cooked beans with cool water and drain. Set the cooking liquid and the drained beans aside.
Give the Dutch oven a quick wash to remove any cooked beans scum. Stir together the ketchup, molasses, apple cider vinegar, brown sugar, ground dry mustard, and pepper until smooth.
Add the chopped onion and bacon to the pot. Stir to mix. Add the 3-1/2 cups (875 ml) of bean liquid and the drained cooked beans and stir well to combine.
Place the lid on the pot and bake the beans for 8 hours. Remove from oven, remove lid, stir, and serve.