It depends how adventurous you are. Grease it and cook it dry in a Dutch oven works pretty well. Put it on a spit and cook it over the camp fire. you can use billy cans for your veg. I think stews are best when camping, everything in one pot on the fire.
Or dig a pit fill it half full with hot stones put your meat on the stones wrapped in banana leaves and then cover it up, come back six hours later, dig it up and eat it.
Don't forget the mustard, salt and pepper. Keep your beer in the nearest stream, along with milk for your breakfast cereals.