Start by bringing a large pot of salted water to a rolling boil over high heat. Once boiling, add the penne pasta and cook it until al dente, typically around 8-10 minutes. Before draining, reserve ½ cup of the pasta water.

While the pasta cooks, heat a large skillet over medium-high heat and pour in a drizzle of olive oil. Add the lean ground beef and cook for about 6-8 minutes, breaking it apart until fully cooked through. Drain off any excess fat.

Push the cooked beef to one side and add in the chopped onion and minced garlic. Sauté these for about 2-3 minutes, until fragrant and the onion turns translucent.

Stir in the tomato paste and let it cook for an additional 1-2 minutes.

Pour in the beef broth and stir well. Lower the heat and let it simmer for about 3-5 minutes until it thickens slightly.

Reduce heat to low and mix in the Greek yogurt and shredded cheese. Stir until fully incorporated and creamy.

Add the drained pasta to the skillet and toss until the penne is coated with the sauce.

Taste and season with salt and black pepper. Garnish with parsley and serve warm.