Preheat oven to 375°F; cover potatoes with cold water in a large pot and add a generous pinch of salt. Boil 15-20 minutes until fork-tender.
Meanwhile, brown beef in a large skillet over medium-high; drain excess fat, cook onion about 5 minutes until softened, then garlic another minute.
Cook tomato paste and flour 1 minute; add broth, Worcestershire, thyme, and frozen vegetables. Season with salt and pepper; simmer 5-7 minutes until thickened.
Drain potatoes; return to pot and mash with butter and milk until smooth and creamy. Season with salt and pepper.
Spread meat mixture evenly in a greased 9x13-inch dish.
Spread mashed potatoes evenly over meat with a spatula; add decorative ridges with a fork if desired.
Sprinkle cheddar over top.
Bake 25-30 minutes until cheese melts and edges bubble; broil 2-3 minutes at end for a golden-brown top if desired. Rest 5-10 minutes before serving.