This is the recipe that evolved from trying to get my kids to eat these. The usual sauce was too thick and tart for them. We all like it though, especially with a slice of cheese on top! Adjust the ratio of ketchup and broth to your liking.
Brown the beef in a skillet with the onion. Add the garlic and cook until the garlic is fragrant, about one minute. Add the remaining ingredients and simmer for about 10 minutes until the sauce is thickend and bubbling. Serve on your favorite buns.