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In a bowl, combine the ground beef, breadcrumbs, milk, egg, salt, pepper, garlic powder, and Worcestershire sauce. Mix well until combined.
Shape the mixture into 4 equal-sized patties.
Heat oil in a skillet over medium heat. Cook the patties for 4–5 minutes on each side until browned and cooked through. Remove and set aside.
In the same skillet, melt the butter. Add sliced onions and cook over medium-low heat for 8–10 minutes until golden and soft.
Sprinkle in the flour and stir for 1 minute.
Slowly add the beef broth while stirring, making a smooth gravy. Add Worcestershire sauce if using.
Simmer the gravy until thickened, then return the hamburger steaks to the pan.
Cover and cook for another 5 minutes on low heat, spooning gravy over the steaks.
Serving and storage tips:
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