In a large pot or Dutch oven, brown the ground beef over medium heat until fully cooked. Drain any excess fat.
Add the diced onion and minced garlic to the pot. Sauté until the onion is soft and translucent, about 3-4 minutes.
Stir in the Worcestershire sauce, mustard, onion powder, garlic powder, salt, and pepper. Mix well to coat the beef and onions with the seasonings.
Add the macaroni pasta, beef broth, and diced tomatoes to the pot. Bring the mixture to a boil.
Once boiling, reduce the heat to low and cover the pot. Let it simmer for 10-12 minutes, or until the macaroni is al dente.
Uncover the pot and stir in the milk and shredded cheddar cheese. Cook until the cheese is melted and the soup is creamy, about 3-5 minutes.
Taste and adjust the seasoning if necessary.
Serve hot, topping with optional sliced pickles, chopped green onions, or more cheese if desired.