Preheat broiler. In a large skillet, cook and crumble beef with pepper and onion over medium-high heat until no longer pink, 5-7 minutes; drain. Stir in seasonings.

Cut rolls horizontally in half. Place bottoms on a baking sheet; broil 3-4 in. from heat until toasted, about 30 seconds. Top with beef mixture, then with cheese. Broil until cheese is melted, 45-60 seconds.

Place roll tops on a baking sheet; broil 3-4 in. from heat until toasted, about 30 seconds. If desired, spread with mayonnaise. Close sandwiches. Freeze option: Freeze cooled beef mixture in freezer containers. To use, partially thaw in refrigerator overnight. Microwave, covered, on high in a microwave-safe dish until heated through, stirring occasionally. Prepare sandwiches as directed.