Heat a large skillet over medium-high heat. Add ground beef and onion. Cook and stir until beef is browned and crumbly, 5 to 7 minutes. Drain and discard grease. Set aside.
Place bacon in a large skillet and cook over medium-high heat, turning occasionally, until evenly browned, about 10 minutes. Drain bacon slices on paper towels. Crumble into small pieces.
Transfer beef-onion mixture and bacon to the slow cooker. Add all the beans, sugar, mustard, and soy sauce. Cook on Medium until flavors meld, about 4 hours.
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