Wipe beef cubes with damp paper towels; discard excess fat. In hot oil in 6-quart Dutch oven or heavy kettle, over medium heat, brown one-third of beef cubes at a time until browned on all sides. Remove from pot and repeat until all beef is browned. Remove all beef from pot.
Add garlic to drippings in pot; saute 1 minute. Return all beef to pot; add undiluted consomme, tomato sauce, salt, thyme, peppercorns, bay leaf, Worcestershire sauce and 1 1/3 cups water. Bring to a boil; reduce heat, cover pot and simmer for 1 hour. Remove bay leaf.
Add whole onions to meat mixture; cover pot and simmer for 30 minutes longer. Add carrots and potatoes to meat mixture; simmer about 30 minutes longer or until they are tender. Add frozen beans; cook 4 to 5 minutes. Add frozen peas; cook 4 minutes longer. Preheat oven to 400°F.
With a slotted spoon, remove meat and vegetables to a 3-quart casserole. Strain liquid into a 4-cup measure; skim off and discard fat. You should have 2 cups liquid left. (Add water if needed.) Return liquid to Dutch oven. In a small bowl, gradually blend flour with 1 cup water.
Stir flour mixture into liquid; bring to a boil over medium heat, stirring constantly with a wooden spoon until gravy thickens. Pour over meat mixture in casserole. Place in oven; bake 25 minutes. Meanwhile, remove biscuits from package; roll one to make a 10-inch-long rope.
Repeat with other biscuits to make a total of 7 ropes; place on meat mixture in casserole to form a lattice. Place remaining 3 biscuits alongside. Brush ropes with egg-yolk mixture and bake for 15 minutes or until golden brown.