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Sloppy Joes Recipe

"When I was a kid, one of my favorite meals was sloppy joes. It had been a long time since I had last had sloppy joes and I had been craving them for a while. Sloppy joes are basically ground beef cooked with onions, a sweetened tomato sauce and various other seasonings and they are served in buns. After looking at a bunch of recipes the common ingredients in the sauce seem to be ketchup, Worcestershire sauce, vinegar, mustard and brown sugar. Now a days I like to add vegetables to anything that I can and I wanted t..."

INGREDIENTS
1 pound ground beef
1 tablespoon olive oil
1/2 cup onion (chopped)
1/2 cup carrot (chopped)
1/2 cup celery (chopped)
2 cloves garlic (chopped)
1/4 cup ketchup
2 cups tomato sauce
1 tablespoon Worcestershire sauce
1 tablespoon red wine vinegar
1 tablespoon mustard
2 tablespoons brown sugar
2 tablespoons gochujang (optional or 1 tablespoon chili powder and 1 teaspoon cumin)
1 (19 ounce) can kidney beans (optional)
salt and pepper to taste
4+ hamburger buns
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