01 - Heat olive oil in a medium saucepan over medium heat. Add the chopped onion and cook for 3 to 4 minutes until soft and translucent. Stir in the minced garlic and cook for an additional 30 seconds until fragrant.
02 - Add the drained and rinsed beans to the saucepan, stirring gently to coat them in the aromatics.
03 - Pour in the ketchup, brown sugar, apple cider vinegar, Dijon mustard, molasses or honey, Worcestershire sauce, smoked paprika, black pepper, salt, and cayenne pepper. Stir thoroughly to combine all ingredients.
04 - Bring the mixture to a simmer, then reduce heat to low. Cover and cook for 20 minutes, stirring occasionally to prevent sticking.
05 - Remove the lid and continue cooking for 3 to 5 minutes if a thicker, more concentrated sauce is desired.
06 - Taste and adjust seasoning as needed. Serve hot as a side dish.