Preheat oven to 350°F (176°C) and add a roasting rack to a large roasting pan.
For the baked ham: Shingle the ham in a baking dish. Bring the remaining ingredients (except the dinner rolls) to a boil in a saucepan on medium heat and cook for 3-4 minutes. Then pour it over the ham before, doing your best to get it in between each individual slice of ham and over the top before wrapping the foil tightly. Bake in the oven for 20 to 30 minutes.
Make the pork & beans: Dice the bacon into small pieces. In a small saucepan, cook the bacon on medium heat just until tender to render off the fat, until semi crispy. Turn off the heat. Remove the bacon pieces, drain the fat, and add the bacon and remaining ingredients to the saucepan, mix, and turn the heat back on to medium. Low simmer for about 20 minutes until the flavors blend together.
Bring a pot of salted water to a boil. Add the potatoes and lower the heat to a simmer until the potatoes are tender. Check the potatoes using a fork, until the fork easily slides in and out without breaking the potato apart, then drain well.
In a saucepan over medium heat, melt the butter. Once melted, sauté the garlic until fragrant. Remove from the heat and toss with the potatoes; adjust the seasoning with salt and pepper to taste. Then toss with parsley.
Make the peas: Melt the butter in a non-stick pan over medium heat. Add peas, and season with salt and pepper. Cook, stirring frequently until peas are tender and heated through (about 3-5 minutes).
Warm the rolls in the oven for 2 to 3 minutes.
Serve the ham with pork and beans, potatoes, peas, and bread. Enjoy with milk.