cblaisd's recipe looks good. Here's a different take on chili. While you can eat it as a meal, I created this version specifically for chili dogs (or burgers, etc.). UNTESTED. Would love someone to try it and help me get to exact measurements...as it gets colder here, will be making it soon.

Ingredients
1 lb. 90% lean ground beef
2 large white onions
4 cloves garlic
1 small can tomato paste
1 can crushed tomatoes (the large one, 28 oz?)
1 Tbls mustard
48 oz. beef broth
5-10 assorted chili peppers (I usually use about 6 jalapeno and 2-3 of the large mild peppers such as poblano)
2 Tbls red wine or red wine vinegar
Chili Seasoning (see below for recipe)

Roast peppers, 1 onion, and garlic in a 400 degree oven for 20 minutes, or until pepper skins start to blister. Remove and let cool. Cut off the stems, and depending on your tolerance for spice, remove the seeds from the jalapenos. the seeds from any larger peppers. Chop everything roughly and add to a food processor. You're looking for almost a paste consistency.

Heat a Dutch oven to medium with a little oil. Spoon the pepper mixture into the pot and stir for about 2 minutes. Add the tomato paste and 2 Tbls of the chili seasoning. Dice the 2nd onion and add. Stir until everything is mixed. Now add the red wine/vinegar and stir to scrape any bits from the bottom of the pot. Next add the crushed tomatoes, beef broth, mustard and stir. Then, break up the ground beef with your hands as you add to the chili. Use your spoon to break it up further in the pot.

Bring the chili to a simmer and hold for about 3 hours. After about 2 hours, taste the chili, and add more seasoning if necessary. You're looking for a thick, meaty consistency that would hold when spooned over a hot dog. Or just put it in a bowl and top with cheese.

Chili Seasoning Recipe

2 Tbls chili powder
2 Tbls cumin
1 Tbls salt
2 tsp pepper
2 tsp crushed red pepper flakes
1 Tbls sugar
2 tsp garlic powder