In a large pot, bring salted water to a rolling boil over high heat. Add pasta and cook according to package instructions until al dente, about 8-10 minutes. Reserve ½ cup of pasta water, then drain the pasta.

In a large skillet over medium heat, add olive oil. Then, add ground beef and minced garlic, breaking apart the meat while cooking for 6-8 minutes until browned.

Stir in tomato paste into the beef mixture and cook for an additional minute.

Pour in milk or broth into the skillet, simmer for 3-4 minutes until slightly thickened.

Mix in Greek yogurt or cream cheese until smooth and creamy, cooking for another 2-3 minutes.

Add drained pasta to the skillet, tossing to coat. If too thick, stir in reserved pasta water to adjust consistency.

Sprinkle freshly grated Parmesan cheese, taste and adjust seasoning with more salt or pepper. Garnish with chopped parsley before serving.