Gather the ingredients.

Heat a large skillet over medium-high heat. Cook and stir ground beef and bacon together in the hot skillet until beef is browned and crumbly, about 7 to 10 minutes.

Transfer hamburger and bacon into a slow cooker; stir in baked beans with pork, kidney beans, lima beans, onions, ketchup, brown sugar, and mustard.

Cover and cook on Low until thickened and bubbling, at least 3 hours.