Place pot over medium-high heat. Break up and stir mixture as it heats. Cook and stir until most of the moisture has evaporated and mixture is crumbly and begins to brown, about 15 minutes. Stir in chicken broth, ketchup, mustard, and Worcestershire sauce. Mix well and bring mixture to a simmer. Reduce heat to medium. Cook, stirring occasionally, until mixture is thick, about 45 minutes.