Preheat the oven to 375°F.
Cook the ground beef in a large skillet over medium heat until browned and fully cooked. Drain excess grease and season with salt and pepper.
Add the frozen vegetables directly to the skillet with the beef. Cook for 4–5 minutes, stirring occasionally, until heated through.
Make the gravy:Push the beef and vegetables to one side of the skillet. Add butter to the empty side and let it melt. Stir in the flour and cook for 1 minute. Slowly whisk in the beef broth until smooth. Add garlic powder and onion powder, then simmer until thickened.
Combine everything in the skillet, making sure the beef, vegetables, and gravy are evenly coated.
Transfer to a baking dish and spread evenly.
Top with cheese: Sprinkle cheddar and Parmesan evenly over the casserole.
Bake uncovered for 10 minutes, or until the cheese is melted, bubbly, and lightly golden.
Let rest for 5 minutes before serving.