Heat 10-inch nonstick skillet over medium-high heat. Cook beef in skillet about 2 minutes, stirring frequently, until brown. Stir in vegetables and 2 teaspoons water. Cook 1 minute, stirring frequently.
Stir in stir-fry sauce until well mixed; reduce heat to medium. Cover and cook 2 to 3 minutes, stirring frequently, until vegetables are crisp-tender.
Meanwhile, cook rice in water as directed on package. Serve beef mixture over rice.