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Heat a large deep skillet over medium-high heat and add the beef and ½ teaspoon salt and paprika. Cook, breaking the meat up into small pieces until browned, 5-6 minutes. Add onion, garlic and cook until aromatic; 2 to 3 minutes.
Add tomato sauce and Worcestershire sauce; reduce until almost dry and caramelized, 2 to 3 minutes.
Add chicken broth and pasta and bring to a boil, lower heat to medium-low and cover. Cook 8 to 10 minutes, stirring halfway until the pasta is almost tender and the liquid is mostly absorbed.
Uncover, add the milk, and cook, covered stirring periodically medium-low until pasta is al dente and most of the liquid is absorbed, 8 to 10 minutes.
Remove from heat, uncover and stir in cheddar cheese.