Cook the Bacon: In a large skillet or Dutch oven, cook the diced bacon over medium heat until crispy and golden brown. Use a slotted spoon to transfer the cooked bacon to a plate lined with paper towels to drain, reserving the bacon grease in the skillet.
Sauté the Aromatics: In the same skillet with the bacon grease, add the chopped onion and minced garlic. Sauté for 2-3 minutes, or until the onion is soft and translucent.
Combine Ingredients: Add the drained and rinsed pinto beans to the skillet with the sautéed onion and garlic. Stir in the barbecue sauce, ketchup, brown sugar, mustard, and Worcestershire sauce until well combined.
Simmer: Bring the mixture to a simmer over medium-low heat. Let it simmer gently for 15-20 minutes, stirring occasionally, to allow the flavors to meld together and the sauce to thicken slightly.
Add Bacon: Once the beans are heated through and the sauce has thickened to your liking, stir in the cooked bacon pieces. Season with salt and pepper to taste, adjusting the seasoning as needed.
Serve and Enjoy: Transfer the cowboy baked beans to a serving dish and garnish with additional chopped bacon or fresh herbs, if desired. Serve hot alongside your favorite barbecue meats, grilled vegetables, or cornbread for a truly satisfying meal.