Coat a large nonstick skillet with nonstick cooking spray; heat over medium-high heat. Crumble in the ground beef and cook, stirring occasionally, for 8 minutes.
Stir in the tomato sauce, ketchup, vinegar, worcestershire sauce and sugar. Simmer on medium-low for 10 minutes, stirring occasionally.
To serve, spoon about 1/2 cup of the mixture on each hamburger bun. Serve with pickles and coleslaw, if desired.
Asian: Add 2 cloves chopped garlic, 1/2 teaspoon ground ginger and substitute 2 tablespoons light soy sauce for Worcestershire sauce. Serve over white rice or on hamburger buns.
Italian: Add 1 teaspoon dried oregano and 1/2 teaspoon dried italian seasoning. Stir in marinara sauce instead of ketchup. Substitute prebaked pizza crust for hamburger buns and garnish with shredded mozzarella.
Mexican: Add 1 tablespoon chili powder and substitute prepared salsa for the ketchup. Serve in taco shells.