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Prep all vegetables: slice onions, julienne carrots, slice mushrooms, and cut bell pepper into strips. Thinly slice beef if needed.
Cook frozen udon noodles in boiling water for a couple of minutes. Rinse and drain under cold water. Drizzle with sesame oil and mix to prevent sticking.
Heat olive oil in a pan and sauté garlic until fragrant. Add thinly sliced beef in an even layer and cook untouched for a couple of minutes until it starts to brown. Season with salt, black pepper, 2 tsp soy sauce, and 2 tsp dark soy sauce. Mix and cook for another 1-2 minutes. Remove beef from heat.
In the same pan, heat oil and cook garlic until fragrant. Add mushrooms and cook for approximately 1 minute.
Add onions, carrots, and bell pepper. Cook for 3-5 minutes.
Add cooked udon noodles and mix.
Add cooked beef and mix.
Combine all sauce ingredients (brown sugar, dark soy sauce, low sodium soy sauce, rice vinegar, oyster sauce, sesame oil, salt, and black pepper) in a separate bowl. Pour into the noodles and mix until well combined.
Turn off heat and finish with chopped scallion.