Preheat and prep: Heat your oven to 375°F (190°C). Grease a 9x13-inch baking dish with a little oil or butter.
Brown the beef: In a large skillet over medium-high heat, cook the ground beef and diced onion until the beef is browned and the onion is softened, about 7–9 minutes.
Break up any large chunks as it cooks.
Season the meat: Add garlic powder, onion powder, smoked paprika, salt, and pepper. Stir well and cook for another minute. If there’s excess grease, drain it off.
Make the special sauce: In a bowl, whisk together mayonnaise, sugar-free ketchup, dill pickle relish, mustard, vinegar or pickle juice, paprika, garlic powder, and onion powder.
Taste and adjust seasoning if needed.
Assemble the casserole: Spread the seasoned beef evenly in the baking dish. Drizzle or spread about two-thirds of the special sauce over the beef layer.
Add cheese and pickles: Sprinkle the shredded cheese evenly over the sauced beef. Scatter the sliced dill pickles across the top.
Bake: Place in the oven and bake for 12–15 minutes, or until the cheese is fully melted and bubbly.
Top and serve: Let the casserole rest for 5 minutes.
Garnish with shredded iceberg lettuce and green onions. Drizzle with the remaining special sauce and sprinkle with sesame seeds if using. Slice and serve warm.