In a large pot, bring salted water to a rolling boil over high heat. Add the penne pasta and cook according to package instructions until al dente, about 8–10 minutes. Drain and reserve ½ cup of pasta water.

Heat a large skillet over medium-high heat and add a drizzle of olive oil. Add the lean ground beef, cooking for 6–8 minutes until browned.

Push the beef to one side of the skillet. Add finely chopped onion and minced garlic to the empty side, sauté for about 2–3 minutes until fragrant.

Stir in the tomato paste with the beef, cooking for another 1–2 minutes to deepen flavor.

Pour in the beef broth, stirring to combine, and let simmer for about 3–5 minutes until thickened.

Reduce heat to low, then stir in Greek yogurt and shredded cheese until smoothly blended.

Add the cooked penne pasta to the skillet and toss gently to coat it evenly in the sauce.

Adjust seasoning with salt and black pepper to taste.

Serve warm, garnishing with chopped parsley if desired.