We had just arrived in Beaune and our BnB recommended us to go to Piqu'Boef, as it was a good place and also had the advantage of being open on a Sunday. As most restaurants are closed Sunday and Monday, reservations are recommended those two days, or you have to show up right when they open at 7 pm. We got there at 7:30 pm and got if maybe the last available table.
The menu consists mostly of beef, as the name indicates. One thing you have to be aware of, is that in Burgundy their steaks are only cooked one way, and that is rare. You can ask for well done as much as you like, but any Burgundy chef with respect for the local meat, will only sear it well on the grill and leave the center rare. If you can't handle rare meat, go for a stew like beef bourguignon, where the meat is cooked through.
We had steaks and they were ok, not the best cut, but still with lots of flavor. The service was classic French, meaning you have to order in French or they will roll their eyes at you. My wife ordered in French, but I had to do it in English, which got me the "dork" look and eye roll from the waitress. And also, a note to those that was wondering why they were left waiting for their check, well that's how it works in France, they welcome you to sit after your dessert until you actively ask for your check.
So all in all, it was ok, nothing special.
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