In a large skillet, heat the olive oil over medium heat. Add the diced onion and minced garlic, cooking until the onion becomes translucent (about 3 minutes).
Add the ground beef to the skillet and cook until browned, breaking it up with a wooden spoon (about 5-7 minutes). Drain any excess grease.
Stir in the beef broth, milk, ketchup, mustard, and Worcestershire sauce. Bring the mixture to a simmer.
Once simmering, add the elbow macaroni. Stir well and cover the skillet. Cook for about 10-12 minutes or until the pasta is cooked al dente, stirring occasionally to prevent sticking.
After the pasta is cooked, lower the heat and stir in the shredded cheddar cheese until melted and creamy. Season with salt and pepper to taste.
Remove from heat and let it sit for a few minutes before serving.
Customize the recipe by adding your favorite burger toppings such as pickles, tomatoes, or lettuce before serving.