Heat olive oil in a large pot or Dutch oven over medium heat. Add ground beef and cook until browned, breaking it apart with a spoon.
Add diced onion and minced garlic; cook until softened and fragrant, about 3 minutes.
Stir in tomato sauce, diced tomatoes, beef broth, paprika, Italian seasoning, salt, pepper, and Worcestershire sauce. Bring to a boil.
Reduce heat to low and stir in the uncooked elbow macaroni. Cover and simmer for 15–20 minutes, stirring occasionally, until the pasta is tender and has absorbed most of the liquid.
Taste and adjust seasoning if needed. If using, stir in shredded cheddar cheese until melted.
Remove from heat, let sit for 5–10 minutes to thicken slightly, then serve warm topped with fresh parsley.