Increase the heat to medium-high and add the ground beef. Cook until browned, breaking it apart with a spoon, about 8-10 minutes. Drain excess fat if necessary.
Stir in the chili powder, cumin, smoked paprika, oregano, and cayenne pepper. Cook for 1-2 minutes to toast the spices.
Add the crushed tomatoes, kidney beans, black beans, and beef broth. Stir well to combine and bring to a simmer.
Reduce heat to low, cover, and let the chili simmer for at least 30 minutes, stirring occasionally. For deeper flavor, simmer for up to 1 hour.
Stir in the apple cider vinegar and season with salt and pepper to taste. Adjust the seasoning as needed.
Serve hot, garnished with chopped cilantro or green onions if desired.
Notes
For a spicier chili, add diced jalapeños or a splash of hot sauce during cooking.
Substitute ground turkey or chicken for a leaner option, and consider adding corn for extra sweetness and texture.