Drain and rinse the soaked navy beans. Place them in a large pot with 4 cups of water. Bring to a boil, then reduce heat and simmer for about 45 minutes, or until tender.

In a skillet, cook the chopped bacon over medium heat until crispy. Remove bacon and set aside, leaving the drippings in the skillet.

Add the diced onion and minced garlic to the skillet and sauté until the onion is translucent.

Preheat the oven to 350°F (175°C). In a baking dish, combine the cooked beans, bacon, sautéed onion and garlic, ketchup, brown sugar, mustard, Worcestershire sauce, black pepper, and salt. Mix well.

Cover the baking dish with foil and bake in the preheated oven for 30 minutes. Remove the foil and bake for an additional 15 minutes, until bubbly and slightly caramelized.