Heat the oil over medium heat in a large pot, add the onions, garlic, tomatoes, bell pepper, cumin, achiote, cilantro, salt and pepper.
Add the water or broth, the beef bones, the meat chunks, and plantain pieces.
Bring to a boil, reduce temperature and simmer for about 50 to 60 minutes.
Add the yuca pieces and continue simmering for another 30 minutes or until the meat is tender.
Garnish with fresh cilantro and serve warm with avocado, white rice and hot sauce on the side.