Model-based testing (MBT) offers the possibility of automatic generation and execution of tests. However, it is not yet widely used in industry due to the fact that models are usually difficult to create and maintain. On the other hand, Behavior Driven Development (BDD) is becoming more popular in the agile development process to achieve a common understanding of the system under development among stakeholders and to automate testing. However, BDD scenarios are written in human language and are usually not precise enough. Moreover, tests extracted from BDD scenarios are too short and incomplete; they only cover a very small part of the system. Our goal is to combine these two approaches to benefit from the usability of BDD and the test automation capabilities of MBT. In this paper, we first define a formal model of scenarios that we call BDD Transition Systems, second, we create more complete tests by composing scenarios (model composition), and finally, we generate and execute tests automatically. We demonstrate the applicability of this approach in a real-world example: an industrial printer.