Preheat the oven to 350°F (180°C). Lightly grease a large baking dish.

Bring a large pot of salted water to a boil. Cook the pasta according to package directions until al dente. Drain and return to the pot.

While the pasta cooks, heat the olive oil in a large skillet over medium heat. Sauté the chopped onion and crushed garlic until softened. Add the ground beef and cook until fully browned. Drain excess fat if needed.

To the drained pasta, add the cooked beef mixture, condensed tomato soup, condensed mushroom soup, and milk. Stir well until evenly combined. Season with salt and black pepper to taste. If using, stir in half of the shredded cheese.

Transfer the mixture to the prepared baking dish. Sprinkle the top evenly with the paprika and dried parsley. If using, top with the remaining shredded cheese.

Bake uncovered for 25–30 minutes, until heated through and lightly bubbling around the edges. Let rest for a few minutes before serving.