In a skillet over medium-high heat, add the ground beef, breaking it into small pieces with a spatula. Season with salt, black pepper, garlic powder, onion powder, paprika, and cayenne pepper. Cook until browned and fully cooked, about 5-7 minutes. Drain any excess fat.
While the beef is cooking, place the slices of American cheese over the cooked beef. Cover the skillet with a lid for a minute or until the cheese is melted.
Spread a generous amount of the sauce on both sides of the toasted rolls. On the bottom half, layer the shredded lettuce, sliced tomatoes, and onions. Add the cheesy beef mixture on top.