This is the recipe I use. It's pretty quick and easy. This recipe serves 4.
1 pound lean ground beef or turkey
1 medium onion, chopped into 1/4 inch pieces
2/3 cup ketchup
1/4 cup water
1 tablespoon vinegar
1 teaspoon Worcestershire sauce
1 teaspoon prepared mustard
1/4 teaspoon garlic powder
6 drops hot pepper sauce (or to taste if you'd like spicier meat)
4 hamburger buns, toasted
Brown the beef/turkey in a frying pan over medium high heat until cooked through. Drain and discard any fat. Add onion and cook for 2 minutes. Add remaining ingredients and cook uncovered, over medium-low heat, stirring occasionally, for 10 minutes. If it seems a little dry you can add up to 1/4 cup more water. It should be thick & juicy, not watery. Spoon 1/4 of the mixture onto each hamburger bun & serve hot.