Heat skillet over medium-high heat; cook and stir beef, onion, green bell pepper, carrots, and garlic until beef is browned, about 10 minutes. Drain off liquids.
Stir in mustard, ketchup, and brown sugar and mix thoroughly. Reduce heat to low and simmer until sauce has thickened, about 30 minutes. Season with salt and pepper.
This recipe is a healthier version of Sloppy Joes II.
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