Preheat oven to 450ºF. Heat oil in a large skillet over medium heat. Add onion and garlic. Season with salt and pepper. Cook, stirring occasionally, until onion is soft, 3 to 5 minutes. Add beef and cook, breaking it up with a spoon, until no longer pink, 4 to 5 minutes. Add soup, ketchup, and Worcestershire and cook, stirring occasionally, until warmed though, about 1 minute. Add green beans, peas, and corn. Cook, stirring occasionally, until warmed through about 1 minute. Remove from heat and stir in cheddar until melted.