Cook the Pasta: Begin by boiling a pot of water and adding the penne pasta according to the package instructions. Cook until al dente, then drain it well before setting aside.
Sauté Vegetables: In a large skillet, heat some olive oil over medium heat. Add the chopped onions and minced garlic, stirring until fragrant and translucent, about 3-4 minutes.
Brown the Ground Beef: Add the lean ground beef to the skillet. Cook thoroughly until browned, breaking it apart with a spatula.
Create the Sauce: Stir in diced tomatoes, beef broth, Greek yogurt, Parmesan cheese, Italian seasoning, salt, and pepper. Let simmer for about 5 minutes.
Combine with Pasta: Add the drained penne pasta into the skillet with the creamy beef mixture. Toss gently until well-combined.
Garnish and Serve: Serve hot garnished with fresh basil or parsley.