In a large skillet over medium heat, add the olive oil. Once hot, add the chopped onion and cook until translucent, about 5 minutes.

Add the minced garlic and cook for an additional minute.

Increase the heat to medium-high. Add the ground beef to the skillet, breaking it up with a spoon. Season with salt and pepper. Cook until browned and no longer pink, about 8-10 minutes.

Once the beef is browned, sprinkle the flour over the mixture. Stir to combine and cook for another 2 minutes to allow the flour to absorb some of the fat and flavor.

Gradually pour in the beef broth and milk while continuously stirring to avoid lumps. Add Worcestershire sauce and stir until the mixture thickens, about 3-5 minutes.

Taste the gravy and adjust the seasoning with more salt and pepper if desired.

Serve hot over your choice of mashed potatoes, rice, or noodles. Garnish with chopped parsley or chives if desired.