01 - Heat a large skillet over medium heat. Add the ground beef and cook, breaking it up with a wooden spoon, until browned throughout, about 5–6 minutes. Drain excess fat if necessary.
02 - Add the chopped onion, green bell pepper, and minced garlic to the skillet with the beef. Cook, stirring frequently, until the vegetables are softened and fragrant, about 3–4 minutes.
03 - Pour in the tomato sauce, tomato paste, ketchup, Worcestershire sauce, brown sugar, yellow mustard, smoked paprika, chili powder, salt, black pepper, and water. Stir thoroughly to combine all ingredients and dissolve any clumps of tomato paste.
04 - Bring the mixture to a gentle simmer. Reduce heat to low and let cook uncovered, stirring occasionally, for 10–12 minutes until the sauce has thickened to your desired consistency.
05 - Taste the sloppy joe mixture and adjust seasoning with additional salt, pepper, or brown sugar if needed to balance the flavors.
06 - Spoon the hot beef mixture generously onto the bottom halves of the toasted hamburger buns. Top with sliced pickles and shredded cheddar cheese if using. Close with the bun tops and serve immediately while hot.