Heat olive oil in a large skillet over medium heat.
Add diced onion and cook for 3-4 minutes until softened.
Add minced garlic and cook for 1 minute until fragrant.
Add ground beef to the skillet and cook, breaking it apart with a spatula, until browned and cooked through, about 6-8 minutes.
Drain excess fat from the skillet if necessary.
Add diced red bell pepper and zucchini to the skillet and cook for 5 minutes until vegetables are tender.
Stir in dried oregano, ground cumin, smoked paprika, black pepper, and salt.
Pour in crushed tomatoes and beef broth, stirring to combine.
Reduce heat to low and simmer for 8-10 minutes until the sauce thickens slightly.
Serve the ground beef mixture over cooked white rice.