Bring a medium nonstick deep pan to medium-high heat on the stovetop. Add just a bit of water to prevent sticking, and add your onion and garlic. Allow to sauté for 3 minutes, stirring occasionally and adding small amounts of water as needed to prevent sticking.
Add smoked paprika, chili powder, cumin, garlic powder, oregano, and salt to the pan. Mix until combined.
Add your cooked lentils, liquid smoke, tomato paste, veggie broth, and tamari to the pan. Use a wooden spoon to break up any clumps of tomato paste, and mix to combine everything.
Bring your mixture to a boil, then lower the heat and simmer until desired consistency is reached, typically between 5-10 minutes. (The longer it cooks, the thicker it'll get!)
Add the maple syrup, lime juice, and optional cilantro to the pan. Mix to combine.
Add to your tacos of choice and enjoy!