Heat the olive oil in a large pot over medium heat. Add the ground beef and cook until browned, about 5 minutes. Drain excess fat if necessary.
Add the diced onion and garlic to the pot. Cook for another 3-4 minutes until the onion becomes translucent.
Season with salt and black pepper, stirring to combine.
Pour in the beef broth and the can of diced tomatoes (with juice). Stir well.
Bring the mixture to a boil. Once boiling, add the elbow macaroni. Reduce the heat, cover the pot, and let it simmer for about 8-10 minutes until the macaroni is tender.
Once the macaroni is cooked, stir in the shredded cheddar cheese until melted and creamy. If using, add the frozen peas and let them heat through for an additional 2 minutes.
Stir in Worcestershire sauce, and adjust seasoning as needed.
Serve hot, garnished with chopped parsley if desired.