Technically NO because tomato is believed to give dogs Heart Arrhythmia, but tons of people feed their dogs foods that are covered in tomato & marinara sauce. I guess it may depend on your dog. Consulting a Vet. is provably ya best option.
The stems, leaves, and flowers of tomato plants contain a toxin that can cause tremors and irregular heartbeat. If a dog eats a large number of green tomatoes, it can also cause problems. Ripe tomatoes should not be a problem for dogs to eat. In fact, many dogs enjoy them.
Dogs should not eat tomatoes, they are poisonous to them. Baked beans have tomato sauce so they should probably not be given to your $1000 show dog. Baked beans also contain sugar and salt which could dehydrate your dog in large quantities.