Yaki Udon Noodle Stir Fry

Name: Yaki Udon Noodle Stir Fry
Ingredients: 13 oz udon noodles (frozen or refrigerated); 1 ½ cups bok choy (chopped); 1 cup mushrooms (sliced); 2 stalks scallions (cut on a bias); 1 small carrot (cut into long shreds); ½ cup onions (sliced or chopped - more or less to taste); 2 tsp garlic (finely diced); ½ lb lean ground beef ((ground turkey, ground chicken, or ground pork can be used)); 2 tsp sesame oil (or olive oil); 1 tsp olive oil; 2½ tbsp dark soy sauce (or regular soy sauce); 2 tbsp oyster sauce; 1 tbsp mirin; 2 tsp brown sugar; ½ tsp rice wine vinegar; ¼ tsp red pepper flakes (optional - more or less to taste); 2 stalks scallions (cut on bias for garnish)