In a large skillet, heat the sesame oil over medium heat until shimmering.
Add the minced garlic and grated ginger to the skillet, sautéing for about 30 seconds until fragrant.
Increase the heat to medium-high and add the ground beef, breaking it up with a wooden spoon. Cook until browned and cooked through, about 5-7 minutes.
In a bowl, mix together the soy sauce, gochujang, brown sugar, and rice vinegar until smooth. Pour this sauce over the cooked beef, stirring well to combine.
Add the broccoli and carrots to the skillet, cooking for an additional 5 minutes until the vegetables are tender but still bright and crisp.
Remove from heat and stir in sliced green onions, reserving some for garnish.
Serve the spicy beef mixture over a scoop of cooked rice, and sprinkle with sesame seeds and remaining green onions for garnish.
Notes
Adjust the level of gochujang to taste for desired spiciness.