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Cook the penne pasta according to package instructions. Drain and set aside.
In a large skillet, heat olive oil over medium heat. Add the onion and garlic, sauté until fragrant. Add the ground beef and cook until browned. Stir in diced tomatoes, beef broth, Greek yogurt, Parmesan cheese, Italian seasoning, salt, and pepper. Simmer for a few minutes.
Add the cooked pasta to the skillet with the beef mixture. Toss until well combined.
Serve the creamy beef pasta garnished with fresh basil or parsley.