Beans were a plant-based food found on Earth.
Whilst eating a plate of baked beans, Clyde Langer asked Mr Smith to tell him about the Slitheen-Blathereen family. When Mr Smith recalled the Blathereen "farting themselves to death", Clyde jokingly asked if he would suffer the same fate. Mr Smith assured him that it was scientifically impossible for a human to be filled with methane on a scale that causes death in the manner of the Blathereen and it was safe to continue eating. (WC: Alien File: Blathereen)
Jack Harkness asked Rhys Williams to leave the hub to get some fake shopping he wanted so as he and Ianto Jones could have sex. He told him he'd go later as the beans were done, to which Ianto replied, "Bloody beans." (TV: Children of Earth: Day One)
Luke Smith told Sarah Jane, Clyde and Rani that his friends at the University of Oxford lived off baked beans and curry. Clyde remarked that it must be like living with the Slitheen. (TV: The Vault of Secrets)
When Starkey was on the run from the Department, he cooked a tin of baked beans on a fire made from twigs. K9 decided to help with his photon beam, causing the baked beans to burst out. (TV: The Korven)
As K9 and Starkey went "walkies" while monitored by Alistair Gryffen, he reminisced about going to a cafe ten years before which served "the best baked bean sandwiches in London". K9 reacted to this stating, "Prognosis, gas." (TV: The Bounty Hunter)