Heat a large pot over medium heat. Add the ground beef and cook until it's browned, about 5-7 minutes, ensuring to drain excess fat if necessary for a leaner base.

Stir in the finely chopped onion and minced garlic, cooking for 3-4 minutes until softened and fragrant.

Pour in the beef broth and bring the mixture to a simmer. Once simmering, add the macaroni and cook until al dente, about 7-8 minutes.

Reduce heat to low. Stir in the milk, shredded cheddar cheese, and Worcestershire sauce until well combined into a creamy broth.

Season your soup with salt and black pepper to taste. Serve hot with optional toppings.