Place a large pot or a large Dutch oven on the stove and turning the heat to medium-high. Add the pound of ground beef and cook while breaking it apart with a spoon. Continue cooking until the beef is fully browned and no pink remains. If there is extra grease in the pot, carefully drain it off.
Lower the heat to medium and add the minced garlic and minced onion. Stir for about 30 seconds, just until fragrant.
Add the diced carrots, cubed potatoes, and frozen green beans to the pot. Pour in the beef broth and tomato sauce, then stir to combine.
Add the parsley, basil, thyme, marjoram, salt, black pepper, and bay leaves. Turn the heat back up to medium-high heat and bring the soup to a gentle boil. Once it begins to bubble, reduce the heat to medium and simmer until the carrots and potatoes are fork-tender, about 25–30 minutes.
Stir in the corn during the last 5–10 minutes of cooking, just until heated through. Remove the bay leaves, taste, and adjust the seasoning if needed. Ladle into bowls and serve hot.