In 4-quart saucepan or Dutch oven, brown ground beef.

Add onion and garlic.

Cook until onion is tender; drain off juices.

Add remaining ingredients except frozen vegetables.

Cover, bring to a boil.

Reduce heat; simmer 50-60 minutes, stirring occasionally.

Add frozen vegetables; cook about 10 minutes or until vegetables are tender.

Add additional water if soup becomes too thick upon standing.