Bring a large pot of salted water to a rolling boil. Add the penne pasta and cook until al dente, about 10 minutes. Drain, reserving ½ cup of starchy pasta water.

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

Push beef to one side of the skillet and add onion and garlic. Sauté for 2-3 minutes until onion is translucent.

Stir in tomato paste and cook for another 1-2 minutes to enhance flavor.

Pour in beef broth and let simmer for 3-5 minutes until thickened.

Reduce heat to low and add Greek yogurt and cheddar cheese, stirring until melted and creamy.

Toss cooked pasta into the mixture, stirring to coat.

Season with salt and pepper to taste. Top with parsley if desired and serve warm.