I'm allergic to soy, so I think my answer might be a bit biased.
I eat some canned beans, but I have found ones with only 30 mgs of salt in a can (black beans, 2 servings). I have fresh beans, but they do in fact, take a while to cook.
I know.. Im lazy and need things done fast so I would go to the canned ones too.
This what my mom taught me..
1. Wash & wash properly.. maybe 2-3 times.. to ensure any chemical residue or 'insect / pest' repellant is washed out.
2. Soak overnight before the day of cooking (length depending on which one it is.. CHICK PEAS, KIDNEY BEANS, BEPeas, Black/Masoor usually take longest)
3. Cook in a pressure cooker for faster cooking (still takes a long time). I used to get back from the gym, put the SOAKED kidney beans on the cooker for 3-6 whistles, hit the shower.. come back and cook in a towel
. Ofcourse, I was in shape then. Cooking everyday..
. Too lazy and busy travelling now.