Fill a large pot with water, generously salt it, and bring to a boil. Once boiling, add pasta and cook until al dente, about 8-10 minutes, reserving ½ cup of pasta water before draining.

In a skillet, heat olive oil over medium heat. Add ground beef and minced garlic, breaking up the meat as it cooks. Season with salt and pepper, cooking until browned, about 5-7 minutes.

Stir in tomato paste into the skillet with the beef. Cook for about 1 minute to deepen the flavor.

Pour in milk or broth and bring to a simmer over medium-low heat. Stir occasionally for about 3 minutes, then reduce heat further and add Greek yogurt or cream cheese until smooth.

Add the drained pasta directly into the skillet and toss to coat evenly in the sauce, adding reserved pasta water if needed to reach desired consistency.

Mix in grated Parmesan cheese, stirring until melted and combined, adjusting seasoning with salt and pepper.

Transfer to serving plates and garnish with chopped parsley. Serve immediately.