Heat olive oil in a large skillet or Dutch oven over medium heat. Add the chopped onion and minced garlic. Cook for 3-4 minutes until the onion is soft and fragrant.
Add the ground beef and season with salt and black pepper. Cook 7-8 minutes until the meat is fully browned. Drain excess fat if needed.
Stir in paprika, oregano, chili powder, and tomato paste. Pour in the broth and milk, then mix in the uncooked pasta.
Bring the mixture to a gentle boil over medium heat. Cook, stirring frequently, for 8-12 minutes until the pasta is tender and most of the liquid is absorbed.
Remove the pan from heat and stir in the shredded cheddar cheese. Let it sit for 1-2 minutes until the cheese melts, then toss to combine.
Serve immediately, garnished with fresh parsley if desired.