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Heat oil in 5-quart Dutch oven on medium heat. Add onion; cook and stir 3 minutes or until browned. Add garlic and caraway seed; cook and stir 1 minute or until fragrant. Add stock, tomato paste and vinegar, stirring to loosen browned bits in bottom of pan.
Stir in beef, paprika, sea salt, thyme and pepper. Bring to boil. Reduce heat to medium-low; cover and simmer 1 hour or until beef is tender, stirring occasionally. Skim fat as needed.
Mix baking mix, milk and butter in medium bowl, stirring to form a soft dough. Drop by heaping tablespoons over stew. Cover. Cook 15 minutes or until dumplings are cooked through.