Heat the large skillet (at least 10-inches) over medium high heat.
Slice the hot dogs and sear them in the hot skillet for just a minute or two, drain any renderings.
Reduce to medium heat and gently stir in the baked beans.
Heat thoroughly, stirring occasionally, about 2-4 minutes.
Serve and enjoy.
Notes
Cast iron gives you the best sear. The heavy pan holds heat evenly and adds a touch of char to the hot dogs that you just cannot get from a regular pan.
Drain the rendered fat. Hot dogs can release a surprising amount of grease when seared. Drain it off before adding the beans.
Thin if needed. Homemade baked beans can be a bit drier than canned, especially when reheating. Add a splash of ketchup, tomato sauce, chicken broth, or water to loosen things up.
Drain canned beans if too thin. Canned baked beans tend to be runnier than homemade. Pour off some liquid if you prefer a thicker consistency.
Add a touch of sweetness. A splash of apple or pineapple juice adds a subtle sweetness that rounds out the flavor.