Heat vegetable oil in a large, deep sauté pan over medium-high heat.
Add minced garlic and onions and cook until softened, about 5-6 minutes, stirring occasionally.
Add ground beef and season with garlic powder, onion powder, and salt. Cook until browned, about 15 minutes, stirring occasionally.
Drain beef and return to stove over low heat.
Stir in shredded cheddar cheese and Velveeta until melted.
Add ketchup, Worcestershire sauce, and chopped bacon and stir to combine.
Serve hot on King's Hawaiian Rolls.