Make taco meat: Heat olive oil in sauté pan over medium-high heat. Add onion and sauté for 5 minutes, until soft. Add beef, garlic, salt and pepper. Cook for about 8-10 minutes, breaking meat up, until the meat is cooked through and no longer pink. Drain excess grease or liquid if needed. Add chili powder, cumin, paprika and tomato sauce to pan. Mix and simmer for 10 more minutes, until the liquid has reduced.