Begin by bringing a large pot of salted water to a boil over high heat. Add the penne pasta and cook according to package instructions for about 9-11 minutes, or until al dente. Once done, drain the pasta in a colander and set it aside.

In a large skillet, heat 1 tablespoon of olive oil over medium-high heat. Add the lean ground beef and cook for 6-8 minutes until it's browned and no longer pink, using a spatula to break it apart.

Stir in the chopped onion into the skillet with the beef, cooking for 3-4 minutes until it becomes translucent and fragrant. Add the minced garlic and sauté for an additional 30 seconds.

Pour the canned diced tomatoes and beef broth into the skillet, and season with Italian seasoning, salt, and pepper. Stir everything together and allow the mixture to simmer for 5-7 minutes.

Remove the skillet from the heat and gently stir in the Greek yogurt and grated Parmesan cheese until combined and smooth.

Add the drained penne pasta to the skillet and toss everything together until the pasta is well-coated in the creamy sauce.

Plate the pasta in bowls and garnish with freshly chopped basil or parsley. Serve hot.