Preheat oven to 350°F.
Heat avocado oil in a medium oven-safe skillet over medium heat.
Add onion and cook for 4–5 minutes until softened. Stir in garlic and cook for 30 seconds.
Add tomato sauce, tomato paste, maple syrup, Dijon mustard, apple cider vinegar, Worcestershire sauce, smoked paprika, garlic powder, onion powder, salt, and pepper. Stir until smooth.
Fold in the drained beans. If the mixture seems too thick, stir in 1–2 tablespoons of water.
Transfer beans into a casserole or baking dish and bake uncovered for 30–35 minutes, until bubbling and slightly thickened.
Let rest for 5 minutes before serving.