Brown the ground beef with the onion and garlic in a large skillet over medium-high heat, breaking it up as it cooks, about 5-6 minutes. Drain excess fat if needed.
Stir in the tomato sauce, beef broth, milk, Italian seasoning, paprika, salt, and pepper.
Add the uncooked pasta shells and stir to combine. Bring to a simmer.
Cover and cook for 12-15 minutes, stirring occasionally, until the pasta is tender and most of the liquid has been absorbed.
Remove from heat and stir in the shredded cheddar until melted.
Top with chopped parsley and serve.