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- Preheat the oven to 350°F (175°C).
- Brown the beef: In a large skillet over medium heat, cook the ground beef and chopped onion until browned. Drain any excess fat.
- Add garlic and sauté for about 1 minute, until fragrant.
- Make the sauce: Stir in the baked beans, kidney beans, pinto beans, barbecue sauce, brown sugar, Worcestershire sauce, mustard, smoked paprika, salt, and pepper. Simmer for 5 minutes.
- Assemble: Transfer the mixture into a greased 9×13-inch (23×33 cm) casserole dish.
- Bake uncovered for 35–40 minutes, until hot and bubbly.
- Optional: During the last 10 minutes of baking, sprinkle shredded cheddar on top for a golden, melty finish.
- Serve warm with cornbread, biscuits, or over rice.