Gather all ingredients and chop the vegetables into bite-sized pieces. Finely mince garlic and ginger.

Heat sesame oil in a large skillet over medium-high heat. Add ground beef, breaking it apart, and sauté for about 5-7 minutes until browned.

Reduce the heat to medium, add minced garlic and ginger, and sauté for 1-2 minutes until fragrant. Add soy sauce and brown sugar, and simmer for another minute.

Stir in prepared vegetables and cook for 3-5 minutes until tender but still slightly crisp.

Prepare rice according to package instructions. Spoon the beef and vegetable mixture generously over the rice in bowls.

Garnish with sesame seeds and chopped green onions. Serve immediately.