Heat olive oil in a large skillet over medium- high heat. Add ground beef, onion and garlic and cook for 5-6 minutes, breaking up the meat, until browned; drain excess grease.
Sprinkle cornstarch, onion powder, garlic powder, paprika and salt over the beef and mix to combine. Stir in milk, beef broth and tomato sauce and bring to a boil.
Add uncooked pasta and reduce heat to low heat and let simmer for 15-20 minutes, stirring occasionally, until liquid is absorbed and pasta is tender.
Mix in cheddar cheese and yogurt until well combined and heat through for a few minutes before serving.