Heat olive oil in a large pot over medium-high heat.
Add ground beef and cook, breaking it apart with a spoon, until browned and cooked through, about 5-7 minutes.
Add diced onion and cook until softened, about 3 minutes.
Stir in minced garlic, dried oregano, dried basil, salt, and black pepper; cook for 1 minute until fragrant.
Pour in diced tomatoes with their juice and beef broth; stir to combine.
Add uncooked penne pasta to the pot and stir to submerge the pasta in the liquid.
Bring the mixture to a boil, then reduce heat to medium-low and simmer uncovered, stirring occasionally, until pasta is tender and most of the liquid is absorbed, about 15 minutes.
Remove the pot from heat and stir in grated Parmesan cheese until melted and well combined.
Sprinkle chopped fresh parsley over the top before serving.