Place a large skillet over medium-high heat and add the ground beef and diced onion. Cook until beef is browned and onion is translucent, approximately 6-8 minutes.
Drain the rendered fat from the skillet and return to the heat source.
Incorporate the minced garlic, tomato paste, mustard, paprika, salt, and pepper. Sauté for 1-2 minutes until the tomato paste darkens slightly.
Add the beef broth, milk, and dry elbow macaroni to the skillet. Stir to combine and bring to a gentle boil.
Reduce the heat to medium-low, cover the skillet with a lid, and simmer for 10-12 minutes, or until the pasta is al dente and the liquid has reduced into a thick sauce.
Remove the skillet from the heat. Gradually fold in the shredded cheddar cheese until completely melted and emulsified into the sauce.
Adjust seasoning with salt and pepper to taste and serve immediately.