Rinse the brown rice under cold water until the water runs clear.
In a medium saucepan, combine the rinsed brown rice and 2 cups of water. Bring to a boil over high heat.
Once boiling, reduce heat to low, cover, and simmer for 40 minutes or until the rice is tender and water is absorbed. Remove from heat and let it sit covered for 5 minutes.
While the rice cooks, heat the olive oil in a large skillet over medium-high heat.
Add the chopped onion and sauté for 3-4 minutes until translucent.
Add the minced garlic and cook for 1 minute until fragrant.
Add the ground beef to the skillet. Cook, breaking it apart with a spatula, until browned and cooked through, about 6-8 minutes.
Stir in the ground cumin, smoked paprika, chili powder, salt, and black pepper. Cook for another 2 minutes to combine flavors.
Add the sliced red bell pepper and shredded carrots to the skillet. Cook for 3-4 minutes until vegetables are slightly tender but still crisp.
Stir in the steamed broccoli florets, soy sauce, and lime juice. Cook for 1-2 minutes until everything is heated through.
Fluff the cooked brown rice with a fork and divide it evenly among four bowls.
Top each bowl of rice with the beef and vegetable mixture.
Garnish each bowl with chopped fresh cilantro before serving.