Boil a large pot of salted water and cook the pasta according to package directions until al dente, about 8-10 minutes. Reserve 1/2 cup pasta water before draining.

In a skillet, heat olive oil over medium heat. Add ground beef and garlic, cooking until beef is browned, about 5-7 minutes. Season with salt and pepper.

Stir in tomato paste and cook for 1 minute, stirring continuously to deepen the flavor.

Pour in milk or broth and bring to a simmer over medium heat, allowing the mixture to bubble lightly.

Reduce heat to low and stir in Greek yogurt or cream cheese until smooth and creamy.

Fold in drained pasta, tossing to coat. If sauce is too thick, add reserved pasta water gradually.

Stir in Parmesan cheese, adjusting seasoning with salt and pepper. Sprinkle with chopped parsley before serving.