Bring a large pot of salted water to a boil for the pasta.
Meanwhile, pour the olive oil into a large skillet over medium-high heat. Once hot, add the onions and sauté for a couple of minutes until starting to soften.
Add the ground beef and garlic to the pan and cook until the beef is browned, breaking apart with a spatula.
At this point, add the pasta to the pot with the boiling water and cook according to package directions.
Add the tomato paste, tomato sauce, dijon, diced tomatoes, broth, salt, pepper and Italian seasoning to the skillet. Stir to combine and bring to a simmer.
Simmer for 5-7 minutes while the pasta cooks then add the milk and grated cheese. Stir to combine.
Drain the pasta then add to the skillet with the ground beef. Toss together until well mixed then top with parsley to serve.