I like beans on tour as well but buy them in a can. If you are adding water to them to hydrate and biking that all day it's the same weight and you do not need to heat canned beans so no stove, fire or cookwear required. Eat out of the can and no plates either. The kitchen can be as small as a can opener and a spoon.

In Western Canada we often have a fire ban by summer. You could try a wood stove but the smell might alert other campers and parks staff with negative results.

An easy recipe for campfire biscuits is 1C flour, 1/2tsp salt, 2tsp baking powder. Mix a supply up before the trip and keep it in a baggy.