Heat a large, deep sauté pan over medium-high heat and spray with cooking spray.
Add ground sirloin to the hot pan along with Worcester sauce, sage, thyme, salt and cayenne. Cook until browned, 7-9 minutes, using a wooden spoon to break down meat. Remove cooked beef from pan and set aside.
In the same pan, sauté carrots, onions and minced garlic over medium heat until tender, about 6-7 minutes, stirring frequently.
Add reserved beef back to the pan and sprinkle entire mixture with flour. Cook for 60 seconds then pour in chicken broth. Bring back to a boil then reduce heat to low. Simmer until gravy starts to form.
Stir in frozen peas and cook until heated through, 1-2 minutes.
Spread beef and vegetable mixture in an even layer on the bottom of a casserole or 8 x 11 baking dish.