In a bowl, whisk together the soy sauce, dark brown sugar, sesame oil, rice vinegar, hoisin sauce, red pepper flakes, and ground ginger. This mixture is the heart of flavor for your beef.
Heat the canola oil in a large skillet over medium heat. Add the chopped garlic and sauté until it's just golden. This will give your beef an aromatic foundation.
Increase the heat to medium-high and add the ground beef into the pan. Break it up with a spatula while it cooks. Aim for a nice browning, as it adds depth to the dish.
Once the beef is browned and cooked through, pour the marinade over the meat. Stir well to coat everything in the luscious sauce. Cook for an additional 2-3 minutes so that the flavors meld beautifully.
Finally, turn off the heat, and mix in the green onions. Serve the beef over your prepared rice, garnished with roasted sesame seeds, and additional green onions if desired.