In a large pot, brown the ground beef over medium heat until fully cooked. Drain any excess fat.
Add the chopped onion and minced garlic to the pot, cooking until the onion becomes translucent, about 3-4 minutes.
Stir in the elbow macaroni, beef broth, milk, Worcestershire sauce, mustard powder, paprika, and a generous pinch of salt and pepper.
Bring the mixture to a boil, then reduce to a simmer. Cover and cook for about 8-10 minutes, or until the macaroni is tender and most of the liquid is absorbed, stirring occasionally.
Once the pasta is cooked to your liking, remove the pot from heat and stir in the shredded cheddar cheese until melted and creamy.
Taste and adjust seasoning if needed.
Serve hot, garnished with chopped parsley for a pop of color.