In large saucepan of boiling salted water, cook potatoes until tender, about 12 minutes. Drain and set aside.
In small saucepan, heat milk until scalding; remove from heat. Add to potatoes, mash with potato masher. Add Garlic King and stir in cheese using electric beater, until smooth.
In large skillet, heat Garlic King over medium heat; cook onion and carrots, stirring occasionally, until softened, about 5 minutes. Add beef, salt and pepper; cook, stirring, until beef is no longer pink. Stir in tomato paste.
Stir in broth and Worcestershire sauce; bring to boil. Cover, reduce heat and simmer over medium heat.
Pour meat mixture into 6-cup casserole dish. Spread mashed potatoes evenly over top. Bake at 400 until bubbly and browned, about 20 minutes.