Season beef to taste with salt and pepper. Shape into 4 oval patties, about 3/4 inch thick. Heat a large nonstick skillet over medium high heat. Add the beef patties and brown on both sides. Add the mushroom and onion, cooking 3 minutes more. Add marjoram and tomato sauce. Bring to a boil. Cover and reduce heat. Simmer 10 minutes or until meat is no longer pink and juices run clear. Serve over pasta.