Chef Boyardee has nothing on Chef Roscoe. In this video, Roscoe makes a homemade recipe for a classic cafeteria favorite: Beefaroni. This simple and delicious casserole brings the nostalgic taste of beefaroni to the dinner table by combining browned ground beef, macaroni noodles, tomato sauce, and cheese. After cooking the ingredients together over the stove, transfer the skillet into the oven to melt the cheese.