Boil potatoes in salted water until fork-tender. Drain and mash with butter and milk. Season and keep warm.

Brown ground beef in a skillet over medium heat. Drain excess fat.

Add onion and garlic to beef and cook until softened.

Sprinkle flour over beef mixture and cook 1 minute.

Slowly stir in beef broth and simmer until thickened. Add vegetables if using.

Serve gravy hot over mashed potatoes.