Add the oil and minced garlic to a large skillet. Sauté the garlic for one minute over medium heat. Add the ground beef and continue to sauté until cooked through. If using a higher fat content beef, drain the excess fat before moving on to the next step.
Rinse the two cans of beans, then drain them well. Add the beans to the skillet with the ground beef.
Add the ingredients for the Homemade BBQ Sauce to the skillet (tomato sauce, tomato paste, apple cider vinegar, brown sugar, molasses, Dijon, Worcestershire sauce, smoked paprika, garlic powder, onion powder, cayenne, and some freshly cracked pepper).
Stir and cook the mixture until the sauce ingredients have combined and created a thick sauce. Allow the sauce to come up to a simmer and then simmer the beef and beans in the sauce for 5 minutes, stirring often. Taste the sauce and add salt to taste (I added 1/2 tsp).
To serve the BBQ Beef and Beans, place 1 cup cooked rice in each bowl, top with 1 cup of the BBQ Beef and Beans, then top with about 1/4 cup shredded cheddar and a sprinkle of sliced green onion.