This is our family's version. I'm posting it here for my kids, who like to make it now that they live away from home.
- Brown ground beef with onion, pepper and garlic.
- Add remaining ingredients (except hamburger buns).
- Simmer gently for 20 minutes.
- Meanwhile, lightly toast bun halves in 350º oven, cut side up.
- Serve a generous heap of meat on each bun.