Bring a large pot of salted water to a rolling boil. Add penne pasta and cook according to package instructions until al dente, about 10-12 minutes. Reserve ½ cup pasta water, drain, and set aside.

In a large skillet over medium-high heat, drizzle in olive oil. Add lean ground beef and sauté for about 6-8 minutes until browned. Drain excess grease.

Push beef to one side and add finely chopped onion and minced garlic. Sauté for 2-3 minutes until onion is translucent.

Stir in tomato paste and cook for 1-2 minutes until well combined.

Add beef broth and bring to a simmer for about 3-5 minutes until liquid thickens.

Mix in Greek yogurt and shredded cheese, stirring until melted and creamy. Use reserved pasta water to adjust consistency.

Add drained pasta to the skillet and toss to coat evenly. Cook for an additional minute.

Season with salt and black pepper to taste. Garnish with parsley if desired and serve hot.