Heat a large skillet over medium-high heat and cook ground beef with chopped onions and minced garlic until beef is browned and crumbled, about 8-10 minutes.
Add chili powder, salt, cumin, paprika, onion powder, garlic powder, black pepper, cayenne pepper, and sugar to the beef mixture. Stir well to combine and cook for 1 minute until fragrant.
Mix in tomato puree, chicken broth, Worcestershire sauce, and yellow mustard. Bring to a boil, then reduce heat to low and simmer for 20-25 minutes, stirring occasionally, until sauce has thickened to a chunky consistency.
While sauce simmers, steam or grill hot dogs until heated through and slightly charred. Warm hot dog buns by steaming or toasting lightly.
Place each hot dog in a bun and generously top with the meat sauce, followed by chopped raw onions and a drizzle of yellow mustard.