Preheat your oven to 350°F (175°C).
In a large skillet, brown the ground beef over medium heat until fully cooked.
Add chopped onion and minced garlic; sauté until soft.
Stir in ketchup, mustard, and Worcestershire sauce; mix well.
In a separate pot, cook the pasta according to package instructions until al dente.
In a mixing bowl, whisk together milk and eggs.
Combine cooked pasta with the beef mixture in the skillet.
Pour the milk and egg mixture over the pasta and beef, mixing thoroughly.
Transfer the mixture to a greased baking dish.
Top with shredded cheddar cheese and bake for 30-35 minutes until bubbly and golden.