Heat a large skillet to medium heat, then add in the ground beef and onions and brown. Once browned, drain off and discard any grease.
Add the minced garlic and cook for 1 minutes. Then add paprika, onion powder, tomato sauce, tomato paste, milk, and beef broth. Stir together and bring to a simmer.
Stir in the noodles, dried basil, salt, and pepper. Cover the pot with a lid, then reduce the heat to medium-low. Cook for 10 minutes, stirring often, until the noodles are tender.
Add the shredded cheese, then place the lid back on the pan until the cheese is melted. Serve immediately.