Brown ground beef in a large skillet, saucepan, or dutch oven. When meat is no longer pink, add onions and garlic. Cook until softened, about 5 minutes.
Add tomato sauce, tomato paste, water, beef broth, and taco seasoning to beef mixture. Stir to combine.
Partially cover pot and let simmer over low heat for at least 30 minutes or up to one hour. If chili is getting dried out, add a bit more water or beef broth as necessary.
Add drained and rinsed beans to chili and stir. .
If you prefer a thicker chili, make a thickener from masa harina, corn meal or even all purpose flour. In a small bowl, combine masa harina with ¼ cup warm water. Whisk until smooth; stir into chili.
Simmer over low heat, uncovered for 15-20 minutes.
Serve with toppings of your choice.