Heat the oil in a 12-inch nonstick skillet over medium-high heat. Add the beef and cook until well browned, stirring often. Remove the beef from the skillet. Pour off any fat.
Reduce the heat to medium. Add the onion to the skillet and cook until it's tender.
Stir the soup, milk, paprika and black pepper in the skillet and heat to a boil. Stir in the sour cream. Return the beef to the skillet and cook until the beef is cooked through. Serve the beef mixture over the noodles. Sprinkle with the parsley.