In a lightly oiled skillet over medium-high heat, cook the onion for 5-7 minutes, until translucent (or increase the time to about 20 minutes if you like them caramelized). Add the garlic and cook for about 1 minute, until fragrant.

Add the ground beef. Cook for 8-10 minutes, breaking apart with a spatula, until browned.

Transfer the ground beef mixture into a slow cooker. Add all the remaining ingredients, except bay leaf, and stir until combined. Place the bay leaf into the middle, if using.

Cook for 6-8 hours on Low or 3-4 hours on High. If you used a bay leaf, remove it before serving.

Select the "Sauté" setting on the pressure cooker. Add a little oil and the onion. Cook for 5-7 minutes, until translucent (or increase the time to about 20 minutes if you like them caramelized). Add the garlic and cook for about 1 minute, until fragrant.

Add the ground beef. Cook for 8-10 minutes, breaking apart with a spatula, until browned.

Add all the remaining ingredients, except the bay leaf, to the Instant Pot and stir until combined. (For the Instant Pot version, I also recommend adding a cup of water or broth.) Place the bay leaf into the middle, if using.

Close the lid. Press "Keep Warm/Cancel" to stop the saute cycle. Select the "Meat/Stew" setting (35 minutes) to start pressure cooking.

Wait for the natural release if you can, or turn the valve to "vent" for quick release if you're short on time. If you used a bay leaf, remove it before serving.

In a lightly oiled Dutch oven over medium-high heat, cook the onion for 5-7 minutes, until translucent (or increase the time to about 20 minutes if you like them caramelized). Add the garlic and cook for about 1 minute, until fragrant.

Add the ground beef. Cook for 8-10 minutes, breaking apart with a spatula, until browned.

Add all the remaining ingredients, except the bay leaf, to the Dutch oven and stir until combined. Place the bay leaf into the middle, if using.

Cover and simmer for about 1 hour, or until the flavors develop to your liking. If you used a bay leaf, remove it before serving.