Coat cold cooking grate of grill with cooking spray, and place on grill. Preheat grill to 350° to 400° (medium-high) heat. Brush hot dogs with 1 Tbsp. barbecue sauce.
Prepare bacon according to package directions; crumble.
Grill hot dogs, covered with grill lid, 6 to 8 minutes or to desired degree of doneness, turning occasionally. Cut hot dogs into bite-size pieces.
Stir together baked beans, cider vinegar, and remaining 1 Tbsp. barbecue sauce in a medium bowl. If desired, microwave bean mixture at HIGH 2 minutes or until thoroughly heated, stirring halfway through. Stir together coleslaw and pepper.
Divide hot dog slices among 8 (10-oz.) glasses. Top hot dogs evenly with bean mixture, coleslaw mixture, chopped tomatoes, green onions, and crumbled bacon. Serve with desired toppings.