Rinse the dried navy beans under cold water. Place them in a large bowl and cover with 4 cups of fresh water. Let soak overnight or at least 8 hours.
Drain the soaked beans and transfer to a large pot or Dutch oven. Add fresh water to cover by about 2 inches. Bring to a boil, then reduce to a simmer and cook uncovered for 45 to 60 minutes until tender but not mushy. Drain and set aside.
Chop the onion and mince the garlic. In a large skillet over medium heat, cook the chopped turkey bacon until crispy. Remove bacon and set aside, leaving rendered fat in the pan.
Add onion and garlic to the skillet and sauté until translucent and fragrant, about 5 minutes.
In a bowl, whisk together maple syrup, molasses, brown sugar, mustard powder, black pepper, salt, and smoked paprika. Pour mixture into the skillet with onions and garlic, stirring to combine and heat through.
Return cooked beans and turkey bacon to the pot or transfer everything to an oven-safe baking dish. Pour the sauce over and stir gently to coat evenly.
Preheat oven to 325°F (165°C). Cover baking dish with lid or foil and bake for 1 to 1.5 hours, stirring occasionally, until beans are bubbly and thickened with a rich glaze.
Let the beans rest for 10 minutes before serving. Enjoy with grilled dishes, salads, or your favorite sides.