Preheat the oven to 350.
Place the ground beef in a skillet over medium heat. Sprinkle it with salt and black pepper. Cook over medium heat, stirring and crumbling the meat as it cooks until it is cooked through and the ground beef is no longer pink.
Remove the ground beef from the skillet and drain off any excess grease and set aside.
Chop the bacon into small pieces and place it in the skillet over medium heat.
Cook the chopped bacon stirring frequently until it is cooked to your desired crispiness. Remove bacon from the skillet and drain on a plate lined with paper towels.
Keep a small amount of bacon grease in your skillet and a add in your chopped onions. Cook over medium heat for about 5 minutes or until the onions are translucent.
Drain (do NOT rinse) the canned baked beans and place them in a large mixing bowl. Add the cooked bacon and ground beef and cooked onions, stir to combine.
In a medium size bowl combine the ketchup, mustard, brown sugar and apple cider vinegar. Stir until well combined.
Pour the sauce mixture over the bean mixture and stir gently until everything is evenly coated.
Spread the beans in a 13×9 inch baking dish.
Place the beans in the oven for 1 hour.
Remove from the oven and serve warm.