Heat the olive oil in a large skillet over medium heat. Once hot, add the ground beef and brown it, breaking it up as it cooks, about 5 minutes. Drain most of the fat, leaving about 1 tablespoon in the pan.
Add the minced onion, finely chopped bell pepper, salt, and pepper to the pan. Stir well and cook until soft, about 4-5 minutes. Add minced garlic and sauté for an additional 30 seconds.
Pour in the tomato sauce, unsweetened ketchup, water, pure maple syrup, apple cider vinegar, chili powder, and hot sauce if using. Stir everything together until well combined.
Bring the mixture to a gentle boil before reducing it to a simmer. Cover and cook for around 10 minutes or until thickened. Stir occasionally to prevent sticking.
Once thickened, taste and season with more salt if necessary. Serve on toasted gluten-free buns or over baked sweet potatoes.