With Dried Baked Beans - Rinse and then pour beans into large bowl and cover with water plus 3" over the top. Soak overnight.
Once soaked, drain and rinse beans and place them into a large saucepan with 4 cups water. Bring beans to a boil over medium high heat. Reduce heat to medium low and cover. Simmer for one hour.
Drain beans, reserving 1 cup of that liquid. In a slow cooker, or in a Dutch Oven over medium heat, add precooked and browned ground beef, ketchup, brown sugar, mustard, molasses, apple cider vinegar, worcestershire sauce, salt, onion powder, chili powder and black pepper.
Add soaked and drained beans + 1/2 cup water and mix well. Cover with a lid and heat on low for 4 hours, stirring after 2 hours and if necessary, adding more liquid to loosen up. Once beans are tender and sauce is thick, serve.
With Canned baked beans - Brown meat in a pan, drain and add into pot. Pour in baked beans and stir together with 1/3 cup water or beef broth. Cook on low for 1-4 hours stirring halfway thru checking liquid content adding a bit more if necessary. Cook time depends on your preference of tenderness, how much time you have and how deep you want the flavors to become, longer is better.