First, prep the potatoes. Add the Yukon Gold and russet potatoes to a large pot of salted water. Bring to a boil, then reduce to a simmer and cook for about 15-20 minutes, or until fork-tender.
While the potatoes cook, make the filling. Heat olive oil in a large skillet over medium heat. Add the diced onion and cook until softened, about 3-4 minutes. Stir in the garlic and cook for another 30 seconds.
Next, brown the lamb. Add the ground lamb to the skillet, breaking it up with a spoon. Cook until browned and no longer pink, about 5-6 minutes. Drain off excess fat if needed.
Stir in the flavor. Add tomato paste and cook for 1 minute to deepen the flavor. Pour in the beef broth and Worcestershire sauce, then stir in the frozen vegetables. Let everything simmer for 5-7 minutes until slightly thickened. Season with salt, pepper, and herbs if using.
Then, mash the potatoes. Drain the cooked potatoes and return them to the pot. Add warm milk, butter, and cheddar cheese. Mash until smooth and creamy. Season with salt and pepper to taste.
Preheat your oven to 400°F (200°C). Transfer the lamb mixture into a baking dish and spread it out evenly. Spoon the mashed potatoes on top and use the back of a spoon to smooth them out. For a rustic look, use a fork to create swirls or ridges on top.
Bake for 20-25 minutes, or until the top is lightly golden. If you'd like extra color, broil for 2-3 minutes at the end (keep a close eye on it!). Let cool for a few minutes before serving.