Heat skillet over medium heat.
Add ground beef and break apart.
Cook until lightly browned.
Drain excess fat from skillet.
Add onions and garlic.
Cook until onions soften slightly.
Stir in tomato paste and cook.
Add tomato sauce and water.
Mix in mustard and Worcestershire.
Add chili powder, paprika, cayenne.
Stir well and reduce heat.
Simmer uncovered for 45 minutes.
Stir occasionally to prevent sticking.
Adjust salt and pepper to taste.
Serve hot over grilled hot dogs.