Heat oil in a large pot over medium-high heat.
Add the beef and brown on all sides, about 5-7 minutes.
Remove the beef and set aside; add the onions and garlic to the pot.
Stir in carrots and potatoes; cook for another 5 minutes.
Return the beef to the pot, then add the beef broth, Worcestershire sauce, thyme, salt, and pepper.
Bring the stew to a boil, then reduce heat and let simmer for 1.5-2 hours until beef is tender.
Prepare the dumplings by mixing flour, baking powder, salt, and parsley in a bowl.
Add milk and stir until just combined; do not overmix.
Drop spoonfuls of the dumpling mixture over the simmering stew.
Cover the pot and cook for an additional 15-20 minutes without lifting the lid.
Check that the dumplings are cooked through—insert a toothpick to see if it comes out clean.
Serve hot, garnished with fresh parsley.