In a large mixing bowl, combine the ground beef, breadcrumbs, milk, chopped onion, garlic, Worcestershire sauce, salt, and pepper. Mix until well combined.
Shape the mixture into 4-6 oval patties, depending on the size you prefer.
Cook the Salisbury Steaks:
Heat a large skillet over medium heat and add a tablespoon of oil. Once hot, add the patties to the skillet and cook for 4-5 minutes per side until they are browned and cooked through (internal temperature should reach 160°F or 71°C).
Remove the patties from the skillet and set them aside on a plate.
Make the Mushroom Gravy:
In the same skillet, melt the butter over medium heat. Add the chopped onion and sliced mushrooms, cooking for 5-7 minutes until softened and browned.
Sprinkle the flour over the mushroom mixture and stir to combine. Cook for an additional 1-2 minutes to remove the raw flour taste.
Gradually add the beef broth, stirring constantly to avoid lumps. Stir in the soy sauce and Dijon mustard, and season with salt and pepper to taste.
Bring the gravy to a simmer and cook for about 3-5 minutes until it thickens.
Combine and Serve:
Return the Salisbury steaks to the skillet, spooning the mushroom gravy over the top. Let everything simmer together for another 5 minutes, allowing the flavors to meld.
Serve the Salisbury steaks with mashed potatoes or rice, and spoon extra mushroom gravy on top.
Serving and Storage Tips:
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