Preheat your oven to 375°F (190°C).
Sauté chopped onions and minced garlic in a large skillet over medium heat until fragrant.
Add the lean ground beef to the skillet and cook until browned. Stir in the frozen mixed vegetables along with Worcestershire sauce, salt, and pepper. Heat through for a few minutes.
Pour in the low-sodium beef broth and let it simmer for about five minutes until slightly thickened.
In a separate bowl, mix Bisquick with whole milk until it reaches a thick but pourable consistency.
Transfer the meat mixture into a greased baking dish and spoon the biscuit batter over the top evenly.
Bake for 25–30 minutes or until the biscuits are golden brown on top.