This can be served over rice, on hamburger buns, or in tortillas.
Heat a large skillet over medium-high heat. Cook and stir beef in the hot skillet until browned and crumbly, 5 to 7 minutes. Reduce heat to low. Stir mustard, balsamic vinegar, garlic, soy sauce, honey, paprika, and black pepper into the ground beef; bring to a simmer and cook until hot, about 3 minutes.
Per Serving: 233 calories; protein 20.2g; carbohydrates 5.1g; fat 14.4g; cholesterol 71mg; sodium 356.5mg.