Heat oven to 400°. Line a large baking sheet with foil and spray with cooking spray.
In large bowl, mix together beef, panko breadcrumbs, egg, garlic, Worcestershire sauce and yellow mustard. Season with salt and pepper. Shape mixture into 12 balls and flatten slightly to create patties. Bake uncovered until cooked through, 15-20 minutes. Set aside.
In a medium pot, cook the garlic in olive oil on low heat, then add the milk and beer. Bring liquids to a simmer. Add the cream cheese to the pot and soften over low heat—when the cream cheese begins to melt, add in cheddar, mozzarella, Dubliner, Dijon mustard, and cayenne, stirring with a whisk until smooth. Salt to taste.
Cook until the sauce is thickened.
TIP: If the Cheddar Beer Cheese is too thin, you can thicken the Beer Cheese with an extra tablespoon of flour or cornstarch. Mix the flour or cornstarch in a separate bowl with 1/4 cup of the thin Beer Cheese Sauce. Slowly add the new thick sauce back into the Beer Cheese recipe.
Spoon Beer Cheese over patties, and serve with pretzel bun or dinner rolls for sliders.