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So, how do you know that the ground beef is fully cooked when you are stir frying it on a sauce pan ?

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Ground beef cooks quite fast. It doesn't need more than 5 minutes (depending on the base of your pan and the amount of meat of course). Just take a piece and rip/cut it open. If it's brown inside, and not red or pink, it's fully cooked.

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But, be sure not to overcook it: it also dries out pretty fast. –  nico Apr 22 '12 at 7:45
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My husband would like to know exactly how long because he's color blind. –  user20843 Oct 20 '13 at 21:11
    
Not my job to give you advice on this, go see someone who knows about this stuff. A safe estimate would be 10-12 minutes, depending on how much meat, the size of the skillet, how much heat etc. Cook together the amount he will make in the future, time that and add a few minutes to be safe. –  Mien Oct 21 '13 at 11:35
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