Boil the Pasta: Bring a large pot of salted water to a rolling boil. Add penne pasta and cook until al dente, about 9 to 11 minutes. Drain without rinsing.

Brown the Beef: Heat olive oil in a skillet over medium-high heat. Add the lean ground beef and cook until browned, about 6 to 8 minutes.

Sauté the Aromatics: Stir in chopped onion, cooking until soft. Add minced garlic, stirring for 30 seconds.

Mix the Sauce Ingredients: Pour in diced tomatoes, beef broth, Italian seasoning, salt, and pepper. Simmer for 5 to 7 minutes.

Incorporate the Creaminess: Remove from heat, and gently stir in Greek yogurt and Parmesan until smooth.

Combine and Heat: Add drained pasta to the skillet, tossing to coat with sauce. Warm over low heat if needed.

Serve and Garnish: Serve immediately, garnished with chopped parsley or basil and extra Parmesan if desired.