Heat a large nonstick skillet over medium-high heat. Add beef; cook 3 minutes or until browned, stirring to crumble. Add bell pepper, celery, onion, and garlic; cook 7 minutes or until vegetables are tender, stirring occasionally. Stir in water and next 10 ingredients (through mushrooms); bring to a boil. Reduce heat, and simmer 25 minutes or until mixture begins to thicken, stirring occasionally. Spoon 2/3 cup meat mixture onto bottom half of each roll; cover with top half of roll.