In a medium saucepot, combine the broth, 1 cup water, onion powder, garlic powder, ketchup, tomato paste, brown sugar, Worcestershire sauce, apple cider vinegar, salt and pepper. Whisk together until smooth and add beans. Bring to a boil and then reduce heat to a simmer. Cook for 20 minutes, stirring now and then to prevent the beans from sticking to the bottom of the pot.