01 - Heat a large skillet over medium heat. Add ground beef and cook, breaking it up with a spoon, until browned, about 5 minutes. Drain excess fat if needed.
02 - Add onion and garlic to the skillet and sauté until softened, about 2-3 minutes.
03 - Stir in tomato paste, chili powder, cumin, paprika, oregano, salt, black pepper, and cayenne. Cook for 1 minute until fragrant.
04 - Pour in beef broth or water. Simmer for 4-5 minutes, stirring occasionally, until the mixture thickens. Remove from heat.
05 - Preheat oven to 350°F. Place hard taco shells on a baking tray and heat for 5 minutes until crisp.
06 - Spoon the beef mixture into each taco shell. Top with lettuce, tomato, cheese, sour cream, olives, and cilantro. Serve with lime wedges.