Bring a large pot of salted water to a boil and cook the penne pasta according to package instructions, typically 8–10 minutes. Reserve ½ cup of pasta water and drain the pasta.

In a large skillet, heat olive oil over medium-high heat. Add the ground beef, cooking until browned, about 6–8 minutes. Drain excess fat.

Add chopped onion and minced garlic to the skillet. Sauté for 2–3 minutes until the onion is translucent.

Stir in tomato paste, cooking for an additional 1–2 minutes to caramelize slightly.

Pour in beef broth and simmer for 3–5 minutes until slightly thickened.

Lower heat and stir in Greek yogurt and shredded cheese until combined and creamy, about 2 minutes. Adjust consistency with reserved pasta water as needed.

Add the drained pasta to the skillet and toss gently to coat.

Taste and adjust seasoning with salt and black pepper.

Garnish with fresh parsley and serve warm.