In a skillet over medium heat, cook chopped bacon until crispy. Remove and set aside.
In a large mixing bowl or baking dish, combine the pork and beans, veggies, cooked bacon, BBQ sauce, ketchup, mustard, Worcestershire sauce, and molasses. Stir well to combine. Taste and adjust seasoning if needed.
Transfer to a greased 9x13-inch baking dish (or leave in oven-safe dish if already using one). Bake uncovered for 45–60 minutes until bubbling and slightly caramelized on top.
Serve hot as a side dish with grilled meats, at BBQs, or even on toast!