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In a large skillet, or large pot, cook the ground beef over medium-high heat until browned, about 6-8 minutes. Drain excess fat.
Add the diced onion and minced garlic to the skillet. Cook until the onion is soft, about 5 minutes. Stir in the Worcestershire sauce, smoked paprika, salt, pepper, and tomato paste, cooking for a couple of minutes.
Pour in the beef broth and milk, bringing the mixture to a simmer. Stir in the mustard and uncooked elbow macaroni, making sure the pasta is fully submerged in the sauce.
Cover and cook for 12-15 minutes on medium-low heat, stirring occasionally to prevent sticking. Cook until the pasta is al dente and the liquid is mostly absorbed.
Remove from heat, and stir in shredded cheddar and Monterey Jack until the melty cheese creates a rich, cheesy sauce.
Serve hot and garnish with fresh parsley, if desired.