For picky eaters, slice the cooked hot dogs into bite-size pieces before serving and keep the sauce mild as written. If your kids like things sweeter, add an extra tablespoon or two of brown sugar at the end. For a tangier version, stir in a splash of apple cider vinegar or a spoonful of dill pickle relish after cooking. You can also add 1 small sliced onion and 1 bell pepper (any color) on top of the frozen hot dogs before pouring on the sauce for a veggie boost—this doesn’t change the core 5-ingredient base, just adds a little extra flavor. For a smoky, grown-up twist, use a smoky barbecue sauce and a teaspoon of Worcestershire or hot sauce. Leftovers keep well in the fridge for up to 3 days and reheat nicely in the microwave; they’re great tucked into lunchboxes in a thermos with some rice or pasta.