Heat a large skillet over medium heat. Add the ground beef and cook for 5-7 minutes, breaking it apart as it cooks. Drain excess fat if necessary.
Add the diced onion and minced garlic to the skillet. Sauté for 3-4 minutes until the onion is translucent.
Stir in the salt, black pepper, paprika, Italian seasoning, and diced tomatoes. Cook for an additional 5 minutes.
Reduce heat to low, sprinkle the shredded cheddar and mozzarella cheese over the beef mixture, cover, and let sit for 2-3 minutes until cheese melts.
Prepare the sauce by mixing mayonnaise, mustard, ketchup, and Worcestershire sauce. Toast the hamburger buns until golden brown. Spread sauce on the bottom half of each bun, spoon the cheesy beef mixture on top, and cover with the other half of the bun.