One-Pot Hamburger Helper

Name: One-Pot Hamburger Helper
Cuisine: American
Ingredients: 2 tbsp. olive oil; 1/2 cup finely diced yellow onion; 1 lb. ground beef; 1 tsp. kosher salt; 1/2 tsp. black pepper; 1 tsp. garlic powder; 1 tsp. paprika; 1/2 tsp chili powder; 1 tbsp. tomato paste; 12 oz. dried elbow pasta (I use Jovial Brown Rice Pasta for Gluten-Free) (*regular pasta or even chickpea pasta works here); 2 cups beef broth; 2 cups milk (*for dairy-free, sub 2 cups almond milk or just do 4 cups of beef broth); 1 cup shredded cheddar cheese (optional, omit for dairy-free); 1/4 cup freshly chopped parsley (optional, for garnish)