Preheat your oven to 375°F (190°C).
In a large skillet over medium heat, sauté chopped onions and minced garlic until fragrant.
Add the lean ground beef to the skillet and cook until browned. Stir in frozen mixed vegetables, Worcestershire sauce, salt, and pepper; heat through.
Pour in low-sodium beef broth and allow to simmer for about five minutes until thickened.
In a separate bowl, combine Bisquick mix with whole milk until thick but pourable.
Transfer the meat mixture into a greased baking dish, spoon the biscuit batter over the top, and bake for 25-30 minutes until golden brown.