Heat 12-inch nonstick skillet over medium-high heat; add beef and onion. Cook 7 to 9 minutes, stirring frequently, until beef is brown; drain, and return to skillet. Add garlic; cook about 1 minute or until garlic is fragrant. Stir in broth, tomato sauce, tomatoes, Italian seasoning, paprika and pepper. Heat to simmering, stirring occasionally. Reduce heat; cover and simmer about 20 minutes or until slightly thickened.