Preheat oven to 375 degrees. Grease a 9x13 baking dish.
Bring a large pot of water to a boil and add the macaroni. Cook for 1 minute less than the package directions state. Drain the macaroni.
While the macaroni is cooking, add the beef to a large skillet over medium heat, breaking the meat up.
When the meat is about halfway cooked through, add the onion and garlic to the skillet and continue cooking until the beef is no longer pink. Season with salt and pepper. Drain the grease and pour the beef into a large mixing bowl.
Add the macaroni, tomato soup, mixed vegetables, soy sauce, Worcestershire sauce, and 1/2 cup of cheddar to the beef. Stir well to combine.
Pour the mixture into the prepared baking dish and top with the remaining cheese.
Cover with foil and bake for 20 minutes. Remove the foil and continue baking for 10 minutes.
You may use any variety of canned vegetables that your family enjoys. You can double the vegetables without adjusting the other ingredients, if desired.