In a large skillet or pot, brown the ground beef over medium-high heat. Drain off any excess grease.
Add the chopped onion and minced garlic to the skillet and cook until softened, about 3-5 minutes.
Stir in the tomato paste, paprika, garlic powder, onion powder, salt, and pepper. Cook for 1 minute more.
Pour in the beef broth and milk. Bring to a simmer.
Add the uncooked elbow macaroni to the skillet. Stir to combine, making sure the macaroni is submerged in the liquid. Reduce heat to low, cover, and simmer for 15-20 minutes, or until the macaroni is cooked through and the sauce has thickened, stirring occasionally.
Remove from heat and stir in the shredded cheddar cheese until melted and smooth. Let it sit for a few minutes to thicken further.
Serve hot and enjoy!
Notes
Garnish with extra cheese and chopped parsley, if desired. Store leftovers in an airtight container in the refrigerator for up to 3 days.