Cook beef, onion and garlic over medium-high heat, stirring occasionally, until beef is brown; remove excess liquid.
Stir in remaining ingredients except beans. Heat to boiling. Reduce heat to low; cover and simmer for 30 minutes, stirring occasionally.
Stir in beans. Heat to boiling. Reduce heat to low; simmer uncovered for another 30 minutes, stirring occasionally. Serve over rice with cornbread & extra chili powder on the side :) This is our family's #1 favorite recipe!