Preheat the oven to 180C/160C fan. Heat the oil in a large ovenproof pan or casserole dish on the hob.
Brown the sausages all over for 5 minutes, then remove and set aside.
Add the onion and carrot to the same pan and cook for 5 minutes until softening.
Add the garlic and cook for 1 minute. Stir in the dried herbs.
Pour in the baked beans, chopped tomatoes, Worcestershire sauce, beef stock cube and water. Stir well.
Return the sausages to the pan, nestling them into the sauce. Season with black pepper.
Cover with a lid or foil and bake in the oven for 30 minutes until the sauce is thick and the sausages are cooked through.
Serve hot with mashed potato or crusty bread.