Whisk the broth, garlic powder, cumin, oregano, chili powder, and paprika in a pot until combined. Season with salt. Bring to a simmer to bring together the flavors. Add in the tomato paste and continue to simmer to thicken the sauce to a creamy consistency. Taste and adjust the seasoning with salt if needed. Then set aside.
Heat a nonstick pan on medium heat. Once hot, brown the beef while crumbling it into smaller pieces until it is no longer pink. Add a few tablespoons of the sauce and 1/2 of the cheese to the pan. Stir until fully combined then remove from the heat.
Preheat the oven broiler on low.
Portion the beef mixture into the taco shells then roll up tightly. Arrange the rolls into an oven safe pan. Ladle the sauce over and top with the remaining cheese. Place under the broiler to melt the cheese completely.
Portion and serve. Garnish with cilantro and jalapeno (if using).