Add ground beef to a large bowl and pour the ice water over the meat. Use your clean hands to mix the water into the beef until it's completely combined. Set aside.
In a large skillet, heat the oil over medium heat. Add the onions and sweat them for 2-3 minutes until softened and slightly translucent. Add the garlic and stir until fragrant, about 1 minute.
Add the salt, cumin, chili powder, onion powder and cayenne to the onions and stir until well combined and very fragrant. Add the ground beef to the onions and cook until browned, breaking up large pieces and stirring constantly. Stir in the ketchup, mustard, worcestershire sauce and cider vinegar and bring to a simmer. Place the lid on the pan, slightly askew so steam can be released and simmer for 15 minutes, stirring occasionally.