Cook the Beef Mixture:
Preheat your oven to 375°F (190°C).
Heat olive oil in a large skillet over medium heat. Add the diced onion and cook until softened, about 3 minutes.
Stir in the garlic and cook for 1 minute until fragrant.
Add the ground beef and cook until browned, breaking it into crumbles as it cooks. Drain excess fat if necessary.
Add the Sauce Ingredients:
Stir in the diced tomatoes, ketchup, mustard, Worcestershire sauce, smoked paprika, salt, and pepper.
Simmer the mixture for 5-7 minutes until thickened.
Combine with Pasta:
In a mixing bowl, combine the cooked macaroni with the beef mixture. Stir well to coat the pasta evenly.
Assemble the Casserole:
Transfer the beef and pasta mixture into a greased baking dish.
Sprinkle cheddar and mozzarella cheeses evenly over the top.
Bake:
Bake the casserole in the preheated oven for 15-20 minutes, or until the cheese is melted and bubbly.
Serve:
Garnish with fresh parsley and serve warm.