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Thinly slice 2 large onions and sauté in a pan with 2 tsp olive oil over medium-high heat.
Add 2 tsp balsamic vinegar and 1 tsp Worcestershire sauce to the onions.
Push the onions to the side of the pan and add the 2 lbs of ground beef. Brown the beef and season with salt, pepper, garlic powder, and onion powder.
Transfer the beef and onion mixture to a 9x13 baking dish.
Add the 1 ½ cups of rinsed jasmine rice, 3 cups of low-sodium beef broth, 1 cup of Fairlife fat-free milk, ½ cup of fat-free Greek yogurt, and 1 tbsp of beef bouillon to the baking dish. Stir to combine.
Bake the casserole covered with foil at 375°F for 35-45 minutes, until the liquid is absorbed.
Remove the foil, top the casserole with 1 cup of reduced-fat cheddar, ½ cup of reduced-fat mozzarella, and ½ cup of parmesan cheese.
Bake for an additional 10-15 minutes, until the cheese is golden and melted.
Garnish with ¼ cup of chopped fresh parsley.