Heat olive oil in a large skillet over medium-high heat.
Add diced onion and minced garlic to the skillet and sauté for 2-3 minutes until softened.
Add ground beef to the skillet and cook, breaking it apart with a spatula, until browned and cooked through, about 5-7 minutes.
Drain excess fat from the skillet if necessary.
Stir in tomato paste, paprika, dried parsley, salt, and black pepper. Cook for 1 minute to combine flavors.
Add elbow macaroni, beef broth, and whole milk to the skillet. Stir to combine.
Bring the mixture to a boil, then reduce heat to medium-low. Cover and simmer for 12-15 minutes, stirring occasionally, until the pasta is tender and most of the liquid is absorbed.
Remove the skillet from heat and stir in shredded cheddar cheese until melted and creamy.
Serve hot.