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

In the same pot, cook the chopped bacon over medium heat until crispy. Remove bacon and drain on paper towels, leaving the drippings in the pot.

Add the diced onion and minced garlic to the pot with the bacon drippings. Sauté until the onion is translucent, about 5 minutes.

Add the cooked beans, bacon, chicken broth, ketchup, Worcestershire sauce, brown sugar, mustard powder, salt, and pepper to the pot. Stir to combine.

Transfer the mixture to a baking dish and cover with foil. Bake in a preheated oven at 350°F (175°C) for 30 minutes. Remove foil and bake for an additional 15 minutes until bubbly.