Heat olive oil in a large oven-safe skillet over medium-high heat. Brown the beef cubes on all sides, about 5-7 minutes. Remove beef and set aside. In the same skillet, sauté onions, carrots, and celery until softened, about 5 minutes. Add garlic and cook for 1 minute more.

Sprinkle flour over the vegetables and stir to coat. Gradually pour in beef broth while stirring constantly to prevent lumps. Add Worcestershire sauce, dried thyme, salt, and pepper. Return the beef to the skillet and bring to a simmer. Cook until the sauce thickens, about 5 minutes. Stir in frozen peas.

In a medium bowl, whisk together flour, baking powder, and salt. Cut in cold butter using a pastry cutter or your fingers until the mixture resembles coarse crumbs. Stir in fresh parsley, thyme, and rosemary. Gradually add milk, stirring until just combined. Do not overmix.

Preheat oven to 400°F (200°C). Drop spoonfuls of the biscuit dough over the hot beef filling, covering the surface evenly. Bake for 20-25 minutes, or until the biscuits are golden brown and the filling is bubbly. Let rest for 5 minutes before serving.