Heat a large skillet over medium heat. Brown the ground beef, onion, paprika, parsley, garlic powder, cayenne powder, salt and pepper. If using ground beef with a higher fat content, add the seasonings after draining the grease.
Stir in the milk, broth, macaroni and tomato sauce. Bring to a boil, cover and reduce the heat to a simmer. Cook for 10-12 minutes or until the pasta is tender. Stir occasionally to prevent sticking.
Stir in the cheddar cheese until melted.