Heat a large skillet over medium heat.
Add the ground beef and cook for 5–6 minutes, breaking it apart as it browns.
Drain excess fat if needed.
Add the diced onion to the skillet and cook for 3 minutes until softened.
Stir in the minced garlic and cook for another minute.
Stir in the ketchup, tomato paste, Worcestershire sauce, mustard, brown sugar, salt, pepper, and paprika.
Pour in the water and stir to combine.
Reduce heat and let the mixture simmer for about 5 minutes, stirring occasionally, until the sauce thickens.
Spoon the meat mixture onto hamburger buns and serve warm.