Smoky Bean Stew

1 package (16 ounces) miniature smoked sausage links
1 can (16 ounces) baked beans
2 cups frozen cut green beans
2 cups frozen lima beans
1/2 cup packed brown sugar
1/2 cup thinly sliced fresh carrots
1/2 cup chopped onion
1/2 cup ketchup
1 tablespoon cider vinegar
1 teaspoon prepared mustard

In a 3-qt. slow cooker, combine all ingredients. Cover and cook on high for 4-5 hours or until vegetables are tender. Makes 6-8 servings.