Pour the olive oil into a 10-inch Dutch oven and heat over medium heat. Add the onion, carrot, and celery. Cook until the vegetables are softened, stirring occasionally to prevent them from browning.
Stir in the ground beef and garlic. Continue cooking until the beef is browned. Drain any excess fat.
Season with salt and pepper to taste.
Add the tomato sauce, vinegar, mustard, chili powder, brown sugar, and cinnamon. Stir to combine.
Reduce the heat to low and simmer for 10–15 minutes, or until the sauce has thickened.
Serve warm.