Place cubed potatoes in a large pot of salted water. Bring to a boil and cook until fork-tender, about 15-20 minutes.

In a large skillet over medium-high heat, add the ground beef. Break it apart with a spatula. Cook until no longer pink, about 5-7 minutes. Add the diced onions and cook until translucent.

Add the minced garlic to the skillet. Stir for about 60 seconds until fragrant.

Sprinkle the flour over the meat and onions. Stir constantly for 2 minutes.

Slowly pour in the beef broth, stirring continuously to prevent lumps. Add the Worcestershire sauce, garlic powder, and a pinch of paprika. Bring to a gentle simmer and cook until the gravy thickens, about 5-7 minutes.

Once the potatoes are done, drain them well. Return them to the pot and add butter, milk, and salt. Mash until creamy.

Taste the gravy and adjust seasoning if needed. Spoon mashed potatoes into bowls and ladle the rich gravy and beef over the top.