Preheat oven to 350 degrees F.
Crisp bacon in a 10-inch cast iron skillet over medium-high heat, cooking to desired crispness.
Once crisp, remove the bacon from the skillet onto a paper towel-lined plate and drain the fat in the pan, reserving 2 tablespoon of it in the pan.
Sauté the diced onions in the bacon fat over medium heat until the onions gain a golden brown color, about five minutes. Add the minced garlic, stirring frequently for 30 seconds until the garlic is fragrant.
Add the pork and beans, dr. pepper, barbecue sauce, molasses, worcestershire sauce, apple cider vinegar, dry mustard powder, and smoked paprika. Stir them well until everything is combined. Taste and season with salt and pepper as needed.
Stir in the cooked bacon, then place the skillet into your preheated oven for 1 hour up to 90 minutes, until the sauce reduces into a thicker glaze.