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In a bowl, whisk together dark soy sauce, light soy sauce, mirin, garlic, ginger, honey, and black pepper.
Heat a lightly oiled pan and add the ground beef. Cook undisturbed for 4 minutes to develop a sear, then break apart and continue cooking until about 80% done.
Pour in the sauce and cook for another 2 minutes, stirring until the beef is fully coated and the sauce has thickened.
Serve the beef over fresh rice. Optionally garnish with sriracha mayo, sesame seeds, and scallions.