Heat a large cast iron skillet over medium heat.
Chop the bacon into bite sized pieces and add to the hot skillet. Fry, stirring often, until just starting to crisp.
Meanwhile, dice the onion and jalapeno pepper. Add to the skillet with the bacon and cook for 5 minutes, stirring often.
In a small sauce pan set over low heat, combine the ketchup, brown sugar, vinegar, molasses, Worcestershire sauce, garlic, salt, and pepper. Stir to combine. Bring to a boil over and then remove from heat.
Add the diced mangos to the sauce. Using an immersion blender, blend the sauce until smooth.
Alternately, pour the sauce into a blender of food processor and process until smooth. Be sure to vent the lid so that steam can escape and start with a low speed.
When the sauce is smooth, add to the pan of bacon and onions. Add the beans and stir to coat in the sauce.
Place beans in a preheated 350 degree oven and bake for 50 minutes.