Put dry navy beans in a pressure cooker. Add water until it is double the height of your beans. Get the beans to a boil, turn off and let soak for an hour. Strain and rinse the beans. Put the beans back in the pressure cooker, sprinkle some salt in it and simmer for an hour.
Let the beans cool down in the pressure cooker before opening. Drain the cooked beans in heat resistant strainer. Put the beans in a small crock pot or slow cooker. Pour enough water in your pot to cover the beans.
Stir in spices, tomato paste, onions, garlic, mustard, horseradish and brown sugar with the beans and water. Cooking the beans can take several hours. You can reduce your cooking time if you saute diced onions and sliced or minced garlic before adding them to your slow cooker. Set the temperature to the lowest setting on your crock pot or slow cooker. Let it slow cook for two to three hours.
This is a small batch of baked beans. You can vary the spices each time you make it. Some people may prefer to use garlic powder and dried onions to make baked beans. Others may not want to put garlic, onions and horseradish in baked beans. Do what makes your taste buds happy.