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Prepare the Sweet Potatoes: Add the cubed sweet potatoes to a large pot of salted water. Bring to a boil and cook until fork-tender, about 12 to 15 minutes. Drain well, then mash with butter, milk, salt, and pepper until smooth.
Make the Ground Beef Filling: Heat olive oil in an oven-safe skillet over medium heat. Add the diced onion and carrots. Cook until softened. Add garlic and stir until fragrant. Add ground beef and cook until browned. Stir in tomato paste, beef broth, peas, thyme, paprika, Worcestershire sauce, salt, and pepper. Simmer for a few minutes until the mixture thickens slightly.
Assemble the Shepherd’s Pie: Spread the beef mixture evenly in the skillet. Spoon the mashed sweet potatoes over the top. Use a spatula to smooth it into an even layer.
Bake: Preheat the oven to 400°F (200°C). Bake for 15 to 20 minutes, or until the topping is slightly golden. Allow the dish to rest for 5 minutes before serving.