In a large pot or Dutch oven, cook ground beef over medium heat until browned. Drain excess fat.
Add onion, garlic, and bell pepper. Cook until softened, about 5 minutes.
Stir in tomato sauce, diced tomatoes, beef broth, Worcestershire sauce, paprika, Italian seasoning, salt, and pepper. Bring to a simmer.
Add uncooked elbow macaroni. Stir well, cover, and cook on low heat for 15–20 minutes, stirring occasionally, until pasta is tender.
If desired, stir in shredded cheddar cheese just before serving or sprinkle on top.
Garnish with fresh parsley and serve warm.