Heat sesame oil in a skillet over medium-high heat. Add ground beef and diced onion, breaking up the beef as it cooks. Stir until browned and onions are softened, about 5 to 7 minutes.
Add minced garlic and cook for 30 seconds until fragrant, then drain excess liquid if necessary.
In a separate bowl, whisk together soy sauce, brown sugar, honey, rice vinegar, and ground ginger until smooth.
Pour the sauce over the beef and onion mixture in the skillet. Stir well to combine and let it simmer uncovered for about 5 minutes until the sauce thickens.
Sprinkle sesame seeds and sliced green onions over the top before serving.
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Notes
Store leftovers in an airtight container in the refrigerator for up to 3 days.