In 5- to 6-quart Dutch oven, cook beef, onion and garlic over medium heat 8 to 10 minutes, stirring occasionally, until beef is thoroughly cooked; drain.
Add chili powder, cumin, red pepper and paprika; cook 1 minute. Stir in tomato paste; cook 1 minute longer. Add remaining ingredients. Heat to boiling; reduce heat to low. Cover; simmer 2 hours.