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 cole slaw, if desired.

Variations Asian: Add 2 cloves chopped garlic, 1/2 teaspoon ground ginger and substitute 2 tablespoons light soy sauce for Worcestershire. 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.