Cook bacon in a medium saucepan over medium-high heat 3 to 4 minutes; add onion, and sauté 3 to 5 minutes or until bacon is crisp and onion is tender. Stir in ketchup and next 6 ingredients; bring mixture to a boil. Cover, reduce heat, and simmer, stirring occasionally, 15 to 20 minutes. Stir in sugar and sliced beef. Serve warm on kaiser rolls.