Cook bacon in a skillet over medium-high heat 4 minutes; drain, reserving 1 teaspoon drippings in skillet.
Sauté onion in hot bacon drippings 7 minutes or until tender. Stir together onions, pork and beans, and next 5 ingredients in a lightly greased 11- x 7-inch baking dish. Top bean mixture with bacon.
Bake at 350° for 45 minutes or until bubbly.