Heat skillet over medium heat. Add beef (and olive oil if needed) and brown until cooked through.
Add diced onion and minced garlic. Sauté until fragrant and translucent.
Stir in beef broth and tomato sauce, scraping any browned bits from bottom.
Add ketchup, mustard, and Worcestershire sauce. Stir well to combine.
Add uncooked pasta. Cover and simmer over medium-low heat, stirring occasionally.
Cook until pasta is tender and sauce thickens (about 10–12 minutes).
Remove from heat and stir in half the shredded cheese until melted.
Top with remaining cheese, cover with lid, and let rest for 5 minutes.
Garnish with optional toppings like bacon bits, pickles, or diced tomatoes. Serve warm.