Prepare all ingredients by mincing garlic and slicing green onions. Set green onions aside for garnishing.
In a large skillet, heat vegetable oil over medium heat. Sauté minced garlic for about 30 seconds until fragrant.
Add ground beef to the skillet, breaking it apart as it cooks. Stir occasionally until browned and fully cooked, about 5-7 minutes.
In a small bowl, whisk together soy sauce, brown sugar, sesame oil, ground ginger, and red pepper flakes. Pour this sauce over the cooked beef.
Stir the beef and sauce together until well combined. Allow to simmer for 2-3 minutes. Add any vegetables during the last minute of simmering.
Serve by placing cooked rice in bowls, spooning the beef mixture over the rice, and garnishing with sliced green onions and sesame seeds.