Heat the vegetable oil in a large skillet over medium heat. Add the ground beef and cook until it is browned and no longer pink, breaking it up as it cooks.
Stir in the minced garlic and cook for one minute until it becomes fragrant.
Add the broccoli florets to the skillet. Cook for 4 to 5 minutes, stirring often, until the broccoli is bright green and slightly tender.
Pour the teriyaki sauce over the beef and broccoli. Stir everything together and let it simmer for 2 minutes so the sauce coats the ingredients evenly.
Spoon the cooked rice into four bowls. Divide the beef and broccoli mixture over the rice.
Sprinkle sesame seeds and sliced green onions on top before serving.