Cook bacon in batches in skillet on med/high heat. Place on plate covered with a paper towel to drain. Tear bacon into 1" pieces and set aside.
Brown ground beef and onions. Drain and set aside.
In a deep 9x13 baking dish empty cans of beans into baking dish. Add ketchup, brown sugar, mustard, Worcestershire sauce, bacon, and ground beef mixture. Mix very well in baking dish (saving you a large bowl to clean)