I really like beans but I don't like gas!!!
So what I have learned is to quick soak my beans by bringing them to a boil for 10 min...let them sit for 1 hour and then rinsing and rinsing them again...until all the coloration is off and the water is running clear. I then cover with cold water and cook until they are tender (varies due to different sized beans).
Lentils and peas I do not pre-soak as they cook well on there own without soaking!!
Good luck! I love beans!!
I also like to "re-fry" my own pinto beans. After I have cooked them I put them into a pan that has about 1/2 tsp. olive oil for each serving. I put enough beans and some juice with them. I mash most of them with a fork but I do leave some of them whole. I cook them until they are the desired consistency. I sometimes add a little bit of salt and I like to add some minced garlic...yummm!!!