Brown and crumble the ground beef in a medium skillet. Drain.
Add the remaining ingredients except for the hamburger buns and simmer for 20-30 minutes. The sauce will thicken more the longer it cooks.
Serve on hamburger buns.
Notes
The longer you allow the sauce to simmer, the thicker it will be. If you like a messier sauce, use the shorter time. If a less messy sauce is your thing, allow the sauce to cook a bit longer.
For even more flavor, add a shake or two of Worcestershire sauce.
Watching your sugar or carb intake? Use low-sugar ketchup and substitute golden monk fruit sweetener (or similar product) for the brown sugar.