Heterocyclic amines (HCAs) are compounds with carcinogenic potential formed during high-temperature processing of meat and meat products. Vegetables or their extracts with high antioxidant capacity can be incorporated into the meat matrix to reduce their formation, but it is necessary to find the optimal levels to achieve maximum inhibition without affecting the sensory properties. The objective of this study was to evaluate the effects of roselle extract (RE, 0–1%), potato peel flour (PP, 0–2%), and beef fat (BF, 0–15%) on the sensory properties and formation of HCAs in beef patties using response surface methodology. IQx, IQ, MeIQx, MeIQ, 4,8-DiMeIQx, and PhIP were identified and quantified by HPLC. Regression models were developed to predict sensory properties and HCAs’ formation. All models were significant (p < 0.05) and showed a R2 > 0.70. Roselle extract and beef fat had a negative linear effect on the formation of the total HCAs, while PP had a positive linear effect. The optimal formula that minimizes the formation of HCAs included 0.63% RE, 0.99% PP, and 11.96% BF. RE and PP are foods that can be used as ingredients in low-fat beef patties to minimize the formation of HCAs without affecting their sensory properties.