Start by bringing a large pot of salted water to a rolling boil. Add the penne pasta and cook according to package instructions until al dente, about 10–12 minutes. Reserve ½ cup of pasta water and drain the rest.

In a large skillet, heat 2 tablespoons of olive oil over medium-high heat. Add the lean ground beef, breaking it up with a spatula as it cooks. Stir occasionally for 6–8 minutes until browned. Carefully drain any excess fat.

Reduce the heat to medium and add the finely chopped onion to the skillet. Sauté for about 2–3 minutes until translucent. Add minced garlic and cook for an additional minute.

Stir in the tomato paste and cook for an additional 1–2 minutes until slightly caramelized. Mix thoroughly with beef and aromatics.

Pour in the beef broth, increase heat slightly to bring to a gentle simmer. Cook for 3–5 minutes until sauce thickens slightly.

Lower heat to medium-low, stir in Greek yogurt and shredded cheddar cheese until melted. If too thick, add reserved pasta water until desired consistency.

Add the cooked penne pasta to the skillet, tossing gently to combine and coat each piece with the sauce. Cook for another minute or two over low heat.

Taste and adjust seasoning with salt and black pepper. Serve warm, garnished with fresh parsley.