Heat the olive oil in a large pot or Dutch oven over medium heat.
Add the ground beef to the pot and cook until browned, breaking it apart with a wooden spoon, about 5-7 minutes.
Drain any excess fat from the pot, then add the diced onion and garlic. Cook for another 3-4 minutes until the onion is translucent.
Stir in the salt, black pepper, and smoked paprika, mixing well to combine.
Add the uncooked elbow macaroni, beef broth, milk, and Worcestershire sauce to the pot. Stir to combine.
Bring the mixture to a boil, then reduce heat to low and cover. Let it simmer for about 10-12 minutes, or until the macaroni is tender, stirring occasionally.
Once the macaroni is cooked, remove the pot from heat and stir in the shredded cheddar cheese until melted and creamy.
Fold in the diced tomatoes and adjust seasoning if needed. Serve hot, garnished with chopped fresh parsley if desired.