Cook the pasta. Bring a large pot of salted water to a boil. Cook penne until al dente, then drain and set aside.
Brown the beef. Heat olive oil in a large skillet over medium heat. Add onion and garlic, sauté until fragrant, then stir in ground beef. Cook until no longer pink.
Build the sauce. Add diced tomatoes, beef broth, Greek yogurt, Parmesan, and Italian seasoning. Stir until creamy and well combined. Let simmer for 5–7 minutes to thicken.
Toss it all together. Add the drained pasta to the skillet and mix until every piece is coated in sauce.
Finish and serve. Taste, season with salt and pepper, and garnish with fresh basil or parsley. Serve hot.