Heat the olive oil in a large skillet over medium heat.
Add the diced onion and cook for 3-4 minutes until softened.
Add the minced garlic and cook for 30 seconds until fragrant.
Add the ground beef to the skillet and cook, breaking it apart with a spatula, until browned and no longer pink, about 6-8 minutes.
Drain excess fat from the skillet if necessary.
Stir in the ground cumin, paprika, salt, and black pepper, mixing well to evenly coat the beef.
Add the uncooked rice to the skillet and stir to combine with the beef and vegetables.
Pour in the beef broth and diced tomatoes with their juices, stirring to combine.
Bring the mixture to a boil, then reduce heat to low and cover the skillet with a lid.
Simmer for 15 minutes, then stir in the frozen peas and carrots.
Cover and cook for an additional 5-7 minutes, or until the rice is tender and the liquid is absorbed.
Remove from heat and let the skillet sit covered for 5 minutes before serving.