Rinse and soak the navy beans overnight in plenty of water. Drain and set aside.

In a large pot, cover the soaked beans with fresh water and bring to a boil. Reduce heat and simmer for about 1 hour until beans are tender. Drain and set aside.

In a mixing bowl, combine ketchup, water, brown sugar, mustard, Worcestershire sauce, salt, pepper, and smoked paprika. Mix well.

Preheat the oven to 300°F (150°C). In a baking dish, combine the cooked beans, chopped onion, minced garlic, and sauce. Stir to combine.

Cover the dish with foil and bake for 2 hours. Remove the foil and bake for an additional 30 minutes until bubbly and thickened.