Optional: Diced onion, sliced pickles and shredded cheddar cheese
In a Dutch oven, cook beef over medium heat until no longer pink, 8-10 minutes, breaking into crumbles; drain. Stir in tomato paste; cook and stir 3 minutes. Stir in next 13 ingredients. Bring to a boil; reduce heat. Simmer, uncovered, until thickened, 15-20 minutes, stirring occasionally. Serve sauce over hot dogs in buns. Add optional toppings as desired.
Freeze option: Freeze cooled sauce in freezer containers. To use, partially thaw in refrigerator overnight. Heat through in a covered saucepan, stirring occasionally; add water if necessary.