I like to use the "Quick Soak" method to prepare my beans for cooking: Pour dried beans into a pot. Add 6 to 8 cups of water. Bring to a boil for 2 minutes. Remove from heat and cover. Allow to sit for 1 hour.
I bag the beans for freezing. A can of beans without the liquid is about 1 1/2 cups of beans, so that is the amount I freeze per bag.
When I need a "can" of beans, I just pull a bag out of the freezer.