Instructions:
- Heat the oil in a large pot or Dutch Oven over medium-high heat. Add the ground beef, breaking it up with a spoon. Cook until fully browned, about 6-8 minutes. Drain off excess fat.
- Reduce heat to medium. Add the diced onion to the beef and cook until softened (about 4 minutes). Stir in the minced garlic and cook for 1 minute until fragrant.
- Stir in the taco seasoning and tomato paste. Cook for 1 minute, stirring constantly to bloom the spices.
- Pour in the broth, diced tomatoes (including their juice), and the dry pasta. Stir everything thoroughly to ensure the pasta is submerged.
- Bring the mixture to a rolling boil over high heat. Immediately reduce the heat to medium-low, cover the pot, and simmer for 12–15 minutes, stirring every 3–4 minutes to prevent sticking.
- Check for doneness; the pasta should be al dente and most liquid absorbed. Remove the pot completely from the heat.
- Stir in the milk until combined.
- Gradually stir in the shredded cheese until fully melted and the sauce is creamy and homogenous. Taste and adjust salt and pepper as needed.
- Serve the One-Pot Cheesy Taco Pasta immediately while piping hot.