01 - Heat olive oil in a medium saucepan over medium heat. Add the chopped onion and cook for 3 to 4 minutes until soft and translucent. Stir in the minced garlic and cook for an additional 30 seconds until fragrant.
02 - Add the drained and rinsed beans to the saucepan, stirring gently to coat them in the oil and aromatics.
03 - Pour in the ketchup, brown sugar, apple cider vinegar, Dijon mustard, molasses or honey, Worcestershire sauce, smoked paprika, black pepper, salt, and cayenne pepper if using. Stir thoroughly until all ingredients are evenly combined.
04 - Bring the mixture to a simmer over medium heat. Reduce heat to low, cover the saucepan, and let cook for 20 minutes, stirring occasionally to prevent sticking.
05 - Remove the lid and continue cooking for 3 to 5 minutes uncovered if a thicker, more concentrated sauce is desired.
06 - Taste the beans and adjust seasoning with additional salt, pepper, or vinegar as needed. Serve hot as a side dish.