In a large skillet, heat the olive oil over medium heat. Add the chopped onion and sauté for about 3-4 minutes until it becomes translucent.

Add the minced garlic to the skillet and sauté for an additional 1 minute until fragrant. This step enhances the flavor of the dish.

Increase the heat to medium-high and add the ground beef. Cook, breaking it apart with a wooden spoon, until browned and cooked through, about 5-7 minutes. Drain excess fat if necessary.

Preheat your oven to 350°F (175°C). In a large mixing bowl, combine the cooked beef mixture with the canned baked beans, ketchup, Worcestershire sauce, brown sugar, mustard, smoked paprika, black pepper, and salt. Stir well to combine all ingredients evenly.

Transfer the combined mixture into a baking dish. Spread it out evenly.

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

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

Remove from the oven and let it cool for a few minutes before serving. This dish is great on its own or served with cornbread or over rice.