Heat the olive oil in your large skillet over medium-high heat. Add the diced onion and sauté until translucent, about 3-4 minutes. Stir in the minced garlic and cook for an additional 30 seconds until fragrant. Add the ground beef, breaking it apart with your spoon. Cook until browned and no longer pink, about 6-8 minutes. Drain any excess fat if needed.
Sprinkle the taco seasoning evenly over the cooked beef. Stir well to coat the meat with those bold spices. Pour in the beef broth and the entire can of diced tomatoes (undrained). Stir everything together, scraping up any browned bits from the bottom of the pan.
Pour the uncooked pasta directly into the skillet. Give it a good stir to combine with the beef and liquids. Bring the mixture to a gentle boil, then reduce the heat to medium-low. Cover with a lid and let it simmer for about 12-15 minutes, stirring occasionally to prevent sticking. The pasta will absorb the broth and cook through.
Once the pasta is tender and most of the liquid is absorbed, sprinkle the shredded cheese evenly over the top. Cover the skillet again and let the cheese melt for about 2-3 minutes. If you like it extra gooey, you can add a little more cheese or broil it briefly until bubbly and golden.
Season with salt and pepper to taste. Sprinkle chopped fresh cilantro on top for a burst of freshness, if using. Serve your Beef Taco Pasta Skillet hot, alongside your favorite toppings like sour cream, avocado slices, or jalapeños for some extra kick.