In a large skillet, heat the olive oil over medium heat. Add the chopped onion and sauté for about 3-4 minutes until translucent. This step builds the base flavor of the dish.

Add the minced garlic and ground beef to the skillet. Cook until the beef is browned and cooked through, about 6-8 minutes. Stir occasionally to break up the meat and ensure even cooking.

Season the mixture with salt and black pepper. Stir well to combine and remove from heat.

In a mixing bowl, combine the drained navy beans, ketchup, brown sugar, Worcestershire sauce, mustard, smoked paprika, and ground cumin. Mix thoroughly until the beans are well coated with the sauce.

Preheat the oven to 350°F (175°C).

In a baking dish, combine the beef mixture with the bean mixture. Stir gently to combine all ingredients evenly.

Cover the baking dish with aluminum foil and bake in the preheated oven for 30 minutes. This allows the flavors to meld together.

After 30 minutes, remove the foil and bake for an additional 15-20 minutes until bubbly and slightly caramelized on top.

If using, sprinkle shredded cheddar cheese on top during the last 5 minutes of baking, allowing it to melt.

Remove from the oven and let cool for a few minutes before serving. This dish pairs well with cornbread or a fresh salad.