To prepare a stove top baked beans beans and grains recipe, you will first need to gather your ingredients. Wash the beans, cut them into bite-sized pieces, and place them in the bottom of the pot. Add the onion, garlic, salt, pepper, chili powder, cumin, oregano, paprika, Worcestershire sauce and water. Bring to boil, then reduce the heat to medium-low and simmer until the onions and garlic are tender, about 30 minutes. Remove the pan from the stove and set aside to cool.