In a large skillet or Dutch oven, cook the ground beef with onion until browned and the onion is soft. Add the garlic and cook until fragrant.
Pour in tomato sauce, diced tomatoes with juices, beef broth, water, tomato paste, and Worcestershire sauce. Stir in Italian seasoning, garlic powder, onion powder, paprika, sugar, salt, and black pepper until well mixed.
Bring the sauce to a boil. Stir in uncooked elbow macaroni. Reduce heat to a gentle simmer, cover, and cook until pasta is tender, stirring occasionally to prevent sticking.
Turn off the heat and stir in shredded cheddar cheese and optional mozzarella until melted and creamy. Let rest a couple of minutes so the sauce thickens.
Scoop into bowls and serve warm, enjoying together with family.