1. In a large pot, add the chopped potatoes and cover with cold water. Bring the water to a boil over high heat.

2. Once the water is boiling, reduce the heat to a simmer and cook the potatoes until they are fork-tender, about 10 minutes.

3. Drain the potatoes and return them to the pot. Add the milk, butter, salt, and pepper. Mash the potatoes until they are creamy and smooth.

4. Cover the mashed potatoes and keep them warm while you prepare the beef gravy.

5. In a large skillet over medium-high heat, cook the ground beef and diced onion until the beef is browned and the onion is translucent. Drain any excess fat from the pan.

6. Add the minced garlic to the skillet and cook for about 30 seconds, until fragrant.

7. Sprinkle the all-purpose flour over the beef mixture and stir to combine. Cook for 2 minutes, allowing the flour to coat the meat and create a roux.

8. Slowly pour in the beef broth, Worcestershire sauce, garlic powder, and onion powder. Stir well and bring the mixture to a simmer.

9. Let the gravy simmer for 5 minutes, stirring occasionally, until it thickens to your desired consistency.

10. Season the gravy with salt and pepper to taste, adjusting the seasoning as needed.

11. Scoop a generous portion of the creamy mashed potatoes onto each plate.

12. Ladle the rich and flavorful beef gravy over the top of the mashed potatoes.

13. Serve the ground beef and gravy over mashed potatoes immediately, allowing the warmth and aromas to entice your senses.