I found this guide [0] from Serious Eats to be very informative; I've made beans a few times using their advice and every time they've come out great.

Salt your beans, soak 'em if you want to/have time and you're not making beans with thin skins like black beans, add some aromatics and fat and you're well on your way to a delicious meal. Save the cooked bean broth and use it as veggie stock!

0: https://www.seriouseats.com/beans-legumes-pulses-varieties-r...