Once the beef is browned, add the ketchup, mustard, brown sugar, garlic, smoked paprika, salt, and pepper; reduce to low heat and let simmer, stirring occasionally, for about 10 minutes to meld the flavors.
¾ cup ketchup, 1 tablespoon yellow mustard, 1 tablespoon brown sugar, 1 teaspoon garlic, 1 teaspoon smoked paprika, ½ teaspoon salt, ¼ teaspoon black pepper