you need to cook them on the stove, in a pan, give them a little mash/bash with the spatula/spoon, cook them until they are thick and you can just about need a knife to cut them. This solves the OPS 'hardness' problem, it solves the 'too much' juice problem, makes them taste better too. At this point, brand does not matter, seriously. Bonus points for adding, some paprika / chilli / cheese/ bacon / plenty black pepper, pinch salt, some brown sauce/ketchup. Seems the problem in this thread is people basically warming them up in a microwave, this is the WORST way to do baked beans.
And i'm pretty sure at one point during 'the bean wars' tesco were PAYING you 2p to 'buy' a tin of beans.