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Preheat the oven to 350F and move the rack to the top third of the oven. Prep the cheeses.
Add the oil and onion to a skillet and sauté for 4-5 minutes over medium-high heat.
Add in the ground beef and garlic. Cook it, breaking the beef up with your spoon as you go along, until it's browned and cooked through (about 8 minutes). If there's a lot of excess fat, spoon it out. Season with a bit of salt & pepper.
Add 2 cups of the marinara sauce to the ground beef mixture (give it a good stir and let it heat through).
Pour the remaining 1 cup marinara sauce into a greased 9x13 baking dish (spread it evenly along the bottom).
Add half the ravioli to the baking dish (some overlap is totally fine, but try to arrange it in a fairly even layer), then add half the beef mixture followed by half of each of the cheeses. Repeat this process so you've got 2 layers and it's finished with the layer of cheese on top.
Cover the baking dish with foil and bake for 30 minutes. Take the foil off and broil for a few minutes so you've got a nice, bubbly, browned cheese layer, then serve immediately.