Brown ground beef, seasoned with salt and freshly ground black pepper, in a large pot. Stir occasionally, until browned, then drain excess fat. Over medium heat, add onions and garlic and sauté, stirring occasionally until softened. Add chili powder, cumin, oregano, paprika, Rotel, tomato paste, and beef broth. Bring to a low boil. Reduce heat to medium-low, cover, and simmer, stirring occasionally, for 1 hour or longer (add beef broth if needed). If desired, add drained beans and allow to simmer for another 10 to 15 minutes. Season with salt and pepper as desired.