Preheat the oven to 170°C.
Spray a lidded ovenproof frying pan with low calorie cooking spray and cook the beef for 2-3 minutes, turning halfway to ensure an even colour.
Dissolve the stock cube in the boiling water. Add the black pepper, carrots, onions, potatoes, beef stock, stock pot and Henderson's Relish to the pan.
Stir the baked beans into the pan, cover with a lid and put in the oven for 3 hours. Remove the lid and cook for a further half an hour.
Season to taste with salt and black pepper and serve.