Preheat oven to 250 degrees F.
In a small bowl, combine the brown sugar, vinegar, molasses, mustard, paprika, salt and cayenne pepper. Set aside. These ingredients may be combined in advance and refrigerated up to a day or two.
Chop three slices of the bacon, and heat a Dutch oven over medium heat. (A 14-inch skillet–12-inch may overflow–or large heavy-bottomed pot with a tight-fitting lid may also be used.) Cook the bacon until some of the fat has rendered, and then add the onion and stir. Sauté until the onion is softened and the bacon becomes a bit crisper, about 8 minutes. Stir in the garlic and cook for another minute. Add the brown sugar mixture, followed by the drained beans and the broth. Stir to incorporate and scrape up any crusty bits on the bottom of the pot. Increase the heat and bring the mixture to a boil, stirring occasionally. Once the mixture has come to a boil, remove from the heat and place the remaining bacon strips on top of the beans.
Cover and place the beans in the oven and bake for 6-8 hours or until the beans are tender. After 4-5 hours I usually check and stir. Once the beans are done, they may sit at room temperature, covered, for up to 2 hours. Place in a warm oven to reheat, as needed.