In a large skillet over medium-high heat, cook the ground beef and onion. Drain excess fat.
Stir in garlic, paprika, chili powder, salt, pepper, and tomato paste. Cook 1 minute.
Pour in beef broth, milk, and Worcestershire sauce. Stir to combine.
Stir in the uncooked pasta. Bring to a boil, then reduce heat to low.
Cover and cook 12–15 minutes, stirring occasionally, until pasta is tender.
Turn off heat, add the shredded cheese, and stir until melted and creamy.