Brown ground beef with onion in a cast iron Dutch oven or skillet; drain. Add remaining ingredients and mix well.
For the campfire:
Preheat the grill to medium heat. Cover pan loosely with foil and cook over indirect heat for 1-2 hours or until heated through.
For the oven:
Preheat oven to 350°. Bake in a greased, 3-quart pan covered with foil for 1 hour.