Start by preparing the beef slices on a clean work surface. Use a meat mallet for tenderizing, if necessary, to achieve an even thickness. Season with salt and pepper.
Spread a teaspoon of mustard over each beef slice, then layer with a slice of bacon, onion slices, and a dill pickle.
Roll up the beef slices tightly, securing the edges to keep the filling inside. Use toothpicks or kitchen twine for this.
In a heavy-bottomed skillet or Dutch oven, heat the vegetable oil over medium-high. Brown the rouladen on all sides, then remove from the pan.
Deglaze the pan with beef broth, ensuring to scrape up the flavorful browned bits.
Return the rouladen to the pan, add the rest of the broth, and simmer covered on low heat for 1 to 1.5 hours until tender.
Once cooked, remove the rouladen, and if desired, thicken the pan juices with a flour or cornstarch slurry for gravy.
Serve the rouladen with gravy, removing any toothpicks or twine beforehand.
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