Heat the olive oil in a large pot over medium heat. Add the beef stew meat and cook until browned on all sides, about 5 minutes.
Add the onion and garlic to the pot. Cook for 3 minutes until the onion softens.
Stir in the lentils, fire-roasted red bell peppers, and chipotle peppers. Cook for 1 minute to combine the flavors.
Pour in the beef broth and the can of fire-roasted diced tomatoes. Add the smoked paprika, cumin, salt, and black pepper.
Bring the mixture to a boil, then reduce the heat to low. Cover and simmer for 45 minutes, stirring occasionally, until the beef and lentils are tender.
Taste and adjust salt or pepper if needed. Ladle into bowls and top with chopped cilantro before serving.