Crumble ground beef into a large pot and brown over medium heat. Drain fat if desired.
Reduce heat to low, add remaining ingredients and stir to combine. Simmer for 2 hours, stirring every 15- 20 minutes, adding small amounts of extra water as needed.
Serve with grated cheese and chopped onions, if desired.
Notes
Optional directions for Slow Cooker or Pressure Cooker:Slow Cooker: brown the ground beef in a skillet on the stove then add everything to the crock of a 5-6 quart slow cooker. Cook 3-4 hours on high or 6-8 hours on low.Pressure Cooker: brown the ground beef in the cooker then add the remaining ingredients. Cook for 20 minutes on high, let pressure release naturally for 10 minutes then do a quick release of remaining pressure.