Heat a large skillet over medium heat. Cook ground beef and chopped onion until the beef is no longer pink is crumbled, about 10 minutes.
Add the garlic and bell pepper and cook for about 3 minutes, until softened. Add 1 cup of water and stir, scraping all of the browned bits from the bottom of the skillet.
Add in ketchup, Worcestershire sauce, brown sugar, Dijon mustard, salt, and black pepper. Add 1 more cup water, stir to combine, and bring the mixture to a simmer. Reduce heat to low and simmer, stirring occasionally, until the mixture thickens and moisture is removed. Season with salt, black pepper, and cayenne pepper to taste and serve immediately.
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