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Heat oil in a large non-stick skillet or pot over medium heat.
Add beef, onion, and zucchini. Break up the meat with a spatula until it's in small, even crumbles. Cook until the meat has no pink remaining and vegetables are slightly softened, about 6-8 minutes.
Add garlic, tomato paste, chili powder, salt, pepper, and crushed red pepper. Cook for 1-2 minutes or until garlic is just fragrant, stirring frequently.
Add pasta, broth, and milk. Stir. Make sure all the ingredients are submerged under liquid, and add more broth as needed.
Cook uncovered for 8-12 minutes or until pasta is cooked al dente, stirring occasionally. The exact timing will depend on the pasta brand and shape you use. You want your healthier hamburger helper at a gentle simmer -- if it looks like a rolling boil, turn the heat down to medium-low or low.
Stir in baby spinach and cheese until melted and combined. If there's excess liquid, let your hamburger helper rest for 5 minutes and stir again. Serve warm with freshly cracked black pepper and grated cheddar cheese. Enjoy!