01 - Heat a large skillet over medium heat. Add the ground beef and cook, breaking it up with a spoon, until browned throughout, approximately 5-6 minutes. Drain excess fat if needed.
02 - Add the chopped onion, bell pepper, and minced garlic to the skillet with the beef. Cook, stirring frequently, until vegetables are softened, about 3-4 minutes.
03 - Pour in the tomato sauce, tomato paste, ketchup, Worcestershire sauce, brown sugar, yellow mustard, smoked paprika, chili powder, salt, black pepper, and water. Stir thoroughly until all ingredients are well combined.
04 - Bring the mixture to a gentle simmer. Reduce heat to low and cook uncovered, stirring occasionally, for 10-12 minutes until the sauce has thickened to your desired consistency.
05 - Sample the mixture and adjust seasoning with additional salt or pepper if necessary.
06 - Spoon the hot beef mixture generously onto the bottom halves of the toasted hamburger buns. Add pickles and cheese if desired. Top with the remaining bun halves and serve immediately while hot.