Cook beef in a Dutch oven over medium heat, stirring occasionally into large chunks, 10 minutes or until no longer pink. (Do not stir beef into crumbles.) Drain and return beef to Dutch oven.
Stir both cans of diced tomatoes and next 7 ingredients into browned beef; reduce heat to medium low, and simmer, uncovered, stirring occasionally, 1 hour. Stir in beans, and simmer 15 minutes. Serve with desired toppings.