Cook meat: Add ground beef to a deep skillet over medium-high heat. Cook, crumbling into small pieces, until browned. Remove most (but not all) of the grease. Add onions and garlic to the pan and cook for 2-3 minutes.

Gravy: Add flour and butter and stir to coat the meat. Add milk and seasonings. Cook, stirring frequently, until gravy is thickened, 5-10 minutes. Taste and add additional seasonings, as needed.

Serve warm over mashed potatoes, biscuits, bread, noodles, rice, or breakfast potatoes.