So rich and tasty! This is the only dish my spouse asks for now!

1 pound ground beef
1/2 cup breadcrumbs
1/4 cup milk
1 egg
2 cloves garlic, minced
1/4 cup soy sauce
1/4 cup brown sugar
1/4 cup honey
1 tablespoon rice vinegar
1 tablespoon cornstarch
1 tablespoon water
1 teaspoon grated ginger
1/4 teaspoon black pepper
2 tablespoons chopped green onions (optional, for garnish)
Sesame seeds (optional, for garnish)