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Lentil and Brown Bean Sloppy Joes

canola or olive oil, for cooking 1/2-1 lb ground beef 1 onion, finely chopped 1 red pepper, seeded and chipped 1 14 oz. (398 mL) can lentils, drained 1 14 oz. (398 mL) can brown beans in tomato sauce 2 cups tomato sauce 2 Tbsp. brown sugar 1 Tbsp. Worcestershire sauce 1 Tbsp. balsamic vinegar