In a large deep skillet over medium heat, cook the ground beef and onion until the beef is no longer pink and the onion is softened, about 6 to 8 minutes. Drain excess grease if needed.
Stir in the garlic, salt, and pepper. Cook for 1 minute until fragrant.
Add in the uncooked rotini, beef broth, milk, ketchup, and mustard. Stir to combine.
Bring to a gentle boil over medium-high heat, then reduce the heat to medium-low. Simmer for about 15 to 18 minutes, stirring occasionally, until the pasta is tender and most of the liquid is absorbed.
Stir in the shredded cheddar cheese until melted and creamy. Fold in the chopped pickles.
Serve hot, topped with extra cheese, pickles, or green onions.
Notes
If you prefer a smoother flavor, swap the fresh garlic and onion for garlic powder and onion powder.
For extra tang, stir in a spoonful of dill pickle relish along with the chopped pickles.
Use low-sodium beef broth so you can better control the saltiness.
Any short pasta shape will work, so feel free to use whatever you have in the pantry.
Leftovers can be reheated with a splash of milk or broth to bring back the creaminess.