In a large skillet over medium-high heat, brown the ground beef with diced onion and garlic until meat is no longer pink. Drain excess fat.
Add the uncooked macaroni, beef broth, milk, tomato sauce, paprika, onion powder, salt, and pepper to the skillet. Stir well to combine.
Bring the mixture to a boil, then reduce heat to medium-low. Cover and simmer for 12-15 minutes, stirring occasionally, until pasta is tender.
Remove from heat and stir in the shredded cheddar cheese until melted and creamy.
Let stand for 3-5 minutes to thicken, then serve hot. The sauce will continue to thicken as it sits.