Mine is what I grew up with. No measurements so its just by taste. Brown ground beef seasoned with garlic, salt & pepper. Drain any grease off. Now dump ketchup and yellow mustard in it. Stir it up adding more of both until its the consistency you want. I don't like mine soupy- I like it to stick to the bun- not fall off. I add cayenne pepper when I get ketchup mustard ratio right.
I also do mass quantity cooking (200-250) for lunches when my husband & I do volunteer work. When we have sloppy joes this is my recipe. We NEVER get anything but compliments. Give it a try!