Cook and stir ground round in a large, deep skillet over medium-high heat until crumbly and browned. Drain and set aside.

Place a large Dutch oven over medium-high heat; coat with cooking spray and add olive oil. Add onion and garlic; cook and stir until onion is tender. Add bell pepper; cook and stir until tender. Season vegetables with cumin, paprika, chili powder, sugar, salt, and cloves; stir in stewed tomatoes, kidney beans, black beans, and cannellini beans. Add water to cover; bring to a boil. Stir in ground round and tomato paste; simmer for 30 minutes.

Off heat, stir in vinegar. Top servings with cilantro.