Heat a Dutch oven over medium-high heat. Add the venison cubes and brown them on all sides. Remove the meat and set it aside.
Add the onion and garlic to the same pot. Cook until the onion softens.
Stir in the carrots, parsnips, and potato. Cook for two minutes.
Return the venison to the pot. Add the beef broth, tomato paste, thyme, and rosemary. Season with salt and pepper.
Bring the stew to a boil, then reduce heat to low. Cover and simmer for 45 minutes until the venison is tender.
In a bowl, mix the flour, cheddar cheese, baking powder, and salt. Stir in the milk and melted butter until a soft dough forms.
Drop spoonfuls of the dough onto the simmering stew. Cover the pot and cook for 15 minutes without lifting the lid.