Preheat oven to 350°F (175°C).
In a large skillet over medium heat, cook the bacon until crispy. Remove and set aside.
In the same skillet, add the ground beef and onions. Cook until beef is browned and onions are soft. Drain excess fat.
In a large bowl, combine pork and beans, ketchup, brown sugar, mustard, Worcestershire sauce, salt, and pepper.
Stir in the cooked bacon and beef mixture.
Pour into a 9x13-inch baking dish and bake for 45 minutes, or until bubbly.