Heat olive oil in a large skillet over medium heat. Add onion and cook until softened, about 3 minutes.
Add garlic and cook for 30 seconds until fragrant.
Add ground beef, season with salt and pepper, and cook until browned. Drain excess grease if necessary.
Stir in tomato sauce, ketchup, mustard, and beef broth. Bring to a simmer.
Add pasta and cook uncovered, stirring occasionally, until pasta is tender and sauce thickens, about 10-12 minutes.
Remove from heat and stir in shredded cheddar cheese until melted and creamy.
Serve hot, garnished with extra cheese if desired.