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Heat the oil in a large skillet over medium high heat. Add the mustard seeds--when they start to pop, add the cardamom seeds. When the mustard seeds finish popping, add the curry leaves (be careful, they will splatter). Stir once or twice, and then add the onions with a pinch of salt. Cook the onions, stirring, for 10 minutes, or until translucent and starting to turn golden. Add the ginger with a teaspoon of garam masala. Cook another 2-3 minutes, stirring.
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Add the ground beef and break it up, stirring to incorporate it into the spices and onions. Sprinkle with salt to taste. Cook, stirring occasionally. When the beef is mostly cooked through, add the zucchini. Cook, stirring occasionally, until the beef is cooked through and no longer pink. Add the peas with a teaspoon of garam masala and mix in, heating through.
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When you are ready to serve the kheema, sprinkle the dish with cilantro, 1 teaspoon of garam masala and lemon juice. Taste for additional salt, garam masala or lemon juice. Serve with yogurt and chutney on the side, and either sambal olek or red chile pepper flakes for anyone who wants heat in the dish.