In a skillet over medium heat, brown the ground beef until no longer pink. Add onions and garlic, cooking until softened. Drain excess fat.

While beef cooks, dice potatoes and slice carrots. Trim ends of green beans if using fresh.

In a greased 9×13 baking dish, spread the cooked beef mixture evenly across the bottom.

Layer potatoes and carrots on top of the beef, followed by the green beans.

In a bowl, whisk together tomato paste, beef broth, paprika, thyme, salt, and pepper. Pour mixture over the casserole evenly.

Cover dish with foil and bake at 375°F for 45 minutes. Remove foil and bake another 15 minutes until veggies are fork-tender and the top is slightly crispy.