Heat the oil in a large, deep nonstick skillet or sauté pan over medium-high heat until hot but not smoking. I use a nonstick skillet for this recipe because it gives the best results and helps prevent the potatoes from sticking as they cook.
Add the ground beef and sprinkle with the salt and black pepper. Stir well to combine, then arrange the meat in an even layer. Cook for 3 minutes without disturbing.
Stir the ground beef and continue cooking for 2 minutes, or until browned, while breaking up any large pieces with a wooden spoon or spatula. (See Notes 1.)
Add the onions to the ground beef and stir to combine. Cook for 3 minutes, stirring often.
Next, add the garlic and tomato paste. Stir well to combine and cook for 1 to 2 minutes.
Add the potatoes, beef broth, and Worcestershire sauce to the skillet and stir well. When the liquid starts to simmer, cover the pan and lower the heat to medium-low.
Cook for 20 to 25 minutes, or until the potatoes are tender. A fork or knife should slide in and out without resistance. Stir occasionally to make sure the potatoes don't stick to the bottom of the skillet.
Taste the beef and potatoes and add salt if needed. As a reference, we added ¼ teaspoon to ours. Serve and garnish with chopped fresh parsley, cilantro, chives, or green onions, if desired.