Depending on your veggie preference, you will want to stagger cooking your veggies with the most firm going in first, then adding in softer veggies. If you like a softer green bean (instead of tender-crisp), you can add your green beans right away.
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While the veggies are roasting in the oven, mix up the teriyaki sauce in a small mixing bowl.
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Roast the first round of veggies 10 min, then add in the next set of veggies. They should cook about 5 minutes. Finally, add in the beef and teriyaki sauce, which will cover both the beef and the veggies.