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In a large bowl, combine the ground beef, baking soda, and water. Mix until evenly combined, then let sit for about 20 minutes—this step helps tenderize the beef.
Heat the oil in a large skillet over medium-high heat until shimmering. Add the onion and pepper and cook, stirring often, until softened, about 5 minutes. Add the garlic and cook 1 minute more; do not brown.
Add the tomato sauce, broth, raisins, sazon seasoning, salt, cumin, brown sugar, and olives. Bring to a simmer, then reduce the heat to medium-low. Pinch off loose 1-in (2.5-cm) clumps of the beef and scatter them over the sauce. Cover and cook, stirring occasionally to break up the meat, until cooked through, 10 to 12 minutes.
Stir in the vinegar, then taste and adjust seasoning if needed. Serve warm over rice.