Add all ingredients in a small pot and cover with cold water
Cover the pot bringing and bring the beets to a low temperature, the water should be simmering, but not rapid boiling so they cook slowly and don't over-reduce the water or burn the beets. Keep an eye on the pot and if the water gets below the top of the beets then top off the pot with hot water so they stay submerged completely.
Depending on the size of your beets it will take approximately 45min to an hour to cook through. The best way to tell if they are done is by putting a skewer or sharp object through them and if it slides in easily then your beets are ready, if it is hard to push through then they will need more time. If the beets are undercooked then they will be very hard to peel, if they are overcooked they will fall apart easily.
Once the skewer easily penetrates through the beets and you may see the skin start to come loose take the beets off of the heat and let them cool in the liquid. You can add some ice cubes to the water if you want them to cool faster, I find they are easiest to peel when they first come out of the water, because if they cool and dry with the skins on they may not peel as easy
Once they are cooled to the touch, using an old clean cloth towel or paper towel, cover and rub around the beets and the skins should be removed easily by the cloth.
cut as you like and enjoy!
Notes
I used balsamic vinegar in my recipe but any vinegar you have on hand can work