Gather ingredients and season ground beef with salt and pepper.
Heat olive oil in a skillet, sauté onions and mushrooms for 5 minutes.
Add seasoned ground beef to skillet, cook until browned.
Mix in garlic powder, Worcestershire sauce, beef broth, and milk, simmer.
Add frozen mixed vegetables, cook for an additional 5 minutes.
Transfer mixture to a greased baking dish, spread evenly.
Cut biscuit dough into quarters, scatter over beef mixture.
Preheat oven to 375°F and bake for 25-30 minutes.
Sprinkle cheese on top, return to oven for 5 minutes to melt.
Let cool for a few minutes before serving.