Cook pasta in boiling salted water according to package directions for al dente. Reserve 1 cup of the pasta cooking water before draining and set aside.

In a large pot over medium high heat brown the ground beef until almost cooked through. Drain any excess fat from the pan. Add in the onion and cook until soft and translucent, about 3-4 minutes. Add in the garlic, tomato paste and continue to cook for 30 seconds.

Stir in the tomato sauce, beef broth, milk and seasonings. Bring mixture to a simmer over medium heat and cook for 10-15 minutes, until the flavors have married and the sauce has thickened slightly. Reduce heat to low and slowly stir in the cheddar cheese until it is melted into the sauce. Taste and adjust seasoning.

Add cooked noodles to the pot of sauce and stir until everything is evenly combined. Use the reserved pasta water to thin down until your desired consistency. Serve hot, topped with freshly chopped parsley and extra shredded cheese.