I've actually been experimenting and reading and learning about dried beans.
The latest research says that certain beans don't need to be soaked before cooking, and in fact, soaking them can detract from their flavor.
http://www.seriouseats.com/2014/09/soaking-black-beans-fa...
There's some good reading to do on the subject.
But lately, here's what I've done.
I cooked both black beans, white beans and pinto beans without soaking first. I simply placed them into a slow cooker, with plenty of fresh cold water, and just let them slowly cook on low until they were soft. It just took a couple of hours, unattended.
For the black beans, I added a couple of garlic cloves and a fresh orange, cut in half. The flavor was excellent. I didn't add anything else until I got closer to using them, and then I added cumin and salt since they were intended for a Mexican meal.
The pinto and white beans just were cooked plain, with no aromatics or herbs.
They all turned out beautiful, tender, and flavorful.
I also tried cooking them in my rice cooker, set to the brown rice setting, without soaking the beans, and they also turned out wonderfully.
The one bean I don't mess with is red kidney beans. I do soak them and cook them carefully, as I understand that undercooked kidney beans can have very unpleasant side effects.
I encourage you to try skipping the soaking, and use a rice cooker with a brown rice setting, or a slow cooker!
The other "beans" that work great in the rice cooker are garbanzo beans (chick peas). I soak them first, for at least 8 hours, since they seem to need it. Then I cook them in the rice cooker on the brown rice setting until they're tender. They make the most delicious hummus, with roasted red peppers, or cumin, or curry. No tahini is needed (it can be expensive) - just use a little fresh squeezed lemon juice, a little olive oil, and lots of spices.