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Heat the oil in a large, heavy-based saucepan or flameproof casserole over medium heat. Add the rosemary and when it starts to sizzle add the onion, carrot, and celery, and fry gently for 8-10 minutes, stirring frequently.
Add the beef and lamb and fry for 8 minutes or until browned, stirring continuously. Stir in the milk and allow it to evaporate for a couple more minutes.
Pour in the wine and simmer for about 2 minutes. Add the beef stock, tomato paste, and tinned tomatoes, and season with salt and pepper. Reduce the heat and cook, uncovered, for at least 2 hours, stirring occasionally.
Cook the pasta in a large pan of boiling, salted water for about 3 minutes or until al dente. Drain the pasta thoroughly and tip it back into the same pan.
Place the pasta into the sauce and toss it together to coat in the sauce.
Serve immediately with fresh basil, grated parmesan, and a drizzle of extra virgin olive oil.