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 another 30 seconds until fragrant.
02 - Add the drained and rinsed beans to the saucepan, stirring gently to coat them in the aromatic base.
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. Stir everything thoroughly to combine.
04 - Bring the mixture to a simmer, then reduce the heat to low. Cover the saucepan and cook for 20 minutes, stirring occasionally to prevent sticking.
05 - Remove the lid and continue cooking for an additional 3 to 5 minutes if a thicker, more concentrated sauce is desired.
06 - Taste the beans and adjust the seasoning as needed. Serve hot alongside grilled vegetables, burgers, or cornbread.