Preheat your oven to 350°F (175°C).
In a skillet over medium heat, add the ground beef, chopped onion, and minced garlic. Cook until the beef is browned and the onions are translucent, approximately 5-7 minutes. Drain any excess fat.
In a large mixing bowl, combine the cooked beef mixture, frozen mixed vegetables, cream of mushroom soup, milk, salt, pepper, and paprika. Stir until everything is well combined.
In the greased 9x13 inch baking dish, layer half of the sliced potatoes evenly on the bottom.
Pour the beef and vegetable mixture over the layer of potatoes, spreading it out evenly.
Top with the remaining sliced potatoes, covering the beef mixture completely.
Cover the baking dish with aluminum foil to help cook the potatoes thoroughly.
Bake in the preheated oven for 30 minutes.
Remove the foil and sprinkle the shredded cheddar cheese over the top.
Bake uncovered for an additional 15 minutes or until the cheese is melted and the potatoes are tender.
Remove from the oven and let it sit for 5 minutes before serving.