In a large pot over medium heat, add the ground beef. Cook until browned, about 5–7 minutes.

Add the chopped onion and minced garlic to the pot. Sauté for about 3 minutes until the onion becomes translucent.

Add the diced carrots and potatoes. Stir in the Worcestershire sauce and cook for an additional 2 minutes.

Pour in the beef broth, bring to a boil, then reduce to low and simmer uncovered for about 20 minutes.

Stir in the whole milk or heavy cream along with the shredded cheddar cheese. Heat gently until the cheese melts, about 3–5 minutes.

Season your soup with salt and pepper to taste, and simmer for a couple more minutes to blend the flavors.