Heat olive oil in a large skillet over medium-high heat.
Add chopped onion and cook until softened, about 2-3 minutes.
Add minced garlic and cook for another 1-2 minutes until fragrant.
Add ground beef to the skillet, breaking it up with a spoon, and cook until browned and cooked through, about 5-7 minutes.
Stir in chili powder, ground cumin, paprika, dried oregano, salt, and pepper. Cook for 1-2 minutes until the spices are fragrant.
Add tomato paste and beef broth to the skillet, stirring to combine. Bring to a simmer and cook for another 5-7 minutes until the mixture thickens slightly.
While the beef mixture is simmering, heat the tortillas according to package instructions.
Assemble the tacos by spooning the beef mixture onto the warmed tortillas.
Top with your desired toppings such as shredded lettuce, diced tomatoes, shredded cheese, sour cream, salsa, sliced avocado, chopped cilantro, and a squeeze of lime juice.
Serve immediately and enjoy your delicious beef tacos!