I originally got this off of All Recipes Dot Com, but I altered it to include less ketchup, less cider vinegar, and less Worcestershire. I also fry up the hot dogs before I slice them.
1 (16 ounce) package hot dogs, cut into 1/4-inch slices
1 (28 ounce) can baked beans with pork
1/4 cup ketchup
1 tablespoon cider vinegar
1/2 teaspoon Worcestershire sauce
1 1/2 teaspoons garlic powder
1 tablespoon chopped parsley
In a large skillet, combine the hot dogs, baked beans, ketchup, cider vinegar, Worcestershire sauce, garlic powder and parsley. Mix to blend, and bring to a boil. Turn heat to low, cover, and simmer for 25 to 30 minutes, stirring occasionally. Serve with shredded cheese.