In 4-quart saucepan or Dutch oven, cook bacon over medium-high heat until crisp. Drain on paper towels. Reserve 2 tablespoons drippings in saucepan.
Stir in onions and garlic; cook over medium-high heat 5 to 8 minutes or until onion is softened.
Add remaining ingredients except bacon; mix well. Reduce heat to medium; cook 18 to 20 minutes, stirring occasionally, until slightly thickened. Stir in all but 1/4 cup bacon. Crumble remaining bacon and sprinkle on top of beans. Serve immediately.