Rachels Famous Chili Dogs

Name: Rachel's Famous Chili Dogs
Ingredients: 1 lb 94% lean ground beef; 15 oz tomato sauce*; 15 oz canned dark red kidney beans, drained; 1 small onion, chopped; 1 clove garlic, minced; 1 tablespoon Worcestershire sauce; 1 teaspoon chili powder; 1 teaspoon hot paprika; 1 teaspoon cayenne pepper; 1/2 teaspoon ground mustard; 1/2 teaspoon dried oregano; 1/4 teaspoon celery seed; 1/4 teaspoon cumin; hot sauce; salt; pepper; 8 hot dog buns; 8 hot dogs; chopped onion (optional); shredded cheddar cheese (optional); mustard (optional)