In a large pot or Dutch oven, heat over medium heat and add the ground beef. Cook for 5-7 minutes, breaking it into small crumbles until browned.

Carefully drain any excess fat and add the diced onion and minced garlic. Sauté for 2-3 minutes until the onion becomes translucent.

Pour in the beef broth and increase the heat to boil. Once boiling, add elbow macaroni and stir. Cook according to package instructions, about 7-8 minutes.

Reduce heat to low and stir in milk, Worcestershire sauce, and Dijon mustard, mixing until well combined. Warm through for about 2 minutes.

Gradually add shredded cheddar cheese, stirring continuously for about 2-3 minutes until the cheese melts and blends into a creamy consistency.

Taste the soup, season with salt and pepper, and add more broth if too thick. The soup should be creamy and hearty.

Ladle the hot soup into bowls and garnish with optional toppings such as diced pickles, crumbled bacon, or sliced green onions.