Heat olive oil in a large skillet over medium heat.
Add chopped onion and cook for 3-4 minutes until softened.
Add minced garlic and cook for 30 seconds until fragrant.
Add ground beef to the skillet and cook, breaking it apart with a spoon, until browned and cooked through, about 6-7 minutes.
Drain any excess fat from the skillet.
Stir in chili powder, ground cumin, smoked paprika, salt, and black pepper.
Add black beans and diced tomatoes with green chilies. Stir to combine and cook for 3-4 minutes until heated through.
Remove skillet from heat and stir in 1 cup of shredded cheddar cheese until melted and mixed evenly.
Transfer the beef mixture to an oven-safe dish if your skillet is not oven-safe.
Sprinkle the remaining 1 cup of shredded cheddar cheese evenly over the top.
Place the dish under a broiler for 2-3 minutes until the cheese is melted and bubbly. Watch carefully to prevent burning.
Remove from oven and let cool for 2 minutes.
Top with dollops of low-fat Greek yogurt and sprinkle chopped fresh cilantro over the dip before serving.
Serve warm with your favorite tortilla chips or vegetable sticks.