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Heat the olive oil in a large skillet or wok over medium-high heat. Add the ground beef and cook until browned and crumbled, about 5–7 minutes. If using onions and garlic, add them during the last few minutes of cooking and sauté until softened.
Stir in the sliced bell peppers, zucchini, and cherry tomatoes. Cook for 5–7 minutes, stirring occasionally, until the vegetables are tender but still slightly crisp. Season with dried oregano, smoked paprika, salt, and pepper.
While the vegetables cook, whisk together the lemon juice, olive oil, red wine vinegar, honey (if using), Dijon mustard, and minced garlic in a small bowl. Taste and adjust seasoning as needed.