Homemade Hamburger Helper with Cheddar and Elbow Macaroni

Ingredients

• 1 tablespoon olive oil
• 1 lb (450 g) lean ground beef
• 2 tablespoons tomato paste
• 1 teaspoon garlic powder
• 1 teaspoon onion powder
• 1 teaspoon smoked or sweet paprika
• 1/2 teaspoon dry mustard
• 1 teaspoon kosher salt, plus more to taste
• 1/2 teaspoon black pepper
• 2 cups (480 ml) low-sodium beef broth
• 1 3/4 cups (420 ml) whole milk
• 2 cups (200 g) dry elbow macaroni
• 2 cups (225 g) freshly grated sharp cheddar cheese
• 1 teaspoon Worcestershire sauce, optional
• 1 tablespoon chopped parsley, optional