I usually soak beans overnight to reduce the cooking time. As I virtually always make more elaborate dishes such as chilli, Boston baked beans, bean and vegetable salads, or Italian style soup using cooked beans, the beans always are delicious.
Furthermore, I also find that the two methods ; soaking/not soaking does not change the fact that they do produce flatulence. As the article states, people that eat beans as a part of their staple diet, don't seem to have the same problem.
At the end of the day, I always try and reduce my electricity bill, which has gone up once again.