Preheat the oven to 375°F (190°C).
Heat the olive oil in a large oven-safe pot or Dutch oven over medium heat.
Add the ground beef and cook, breaking it apart with a spoon, until browned and cooked through, about 5-7 minutes.
Add the diced onion and cook until softened, about 3-4 minutes.
Stir in the minced garlic, dried oregano, dried basil, salt, and black pepper; cook for 1 minute until fragrant.
Pour in the crushed tomatoes and beef broth, stirring to combine.
Add the uncooked penne pasta and stir well to submerge the pasta in the sauce.
Bring the mixture to a simmer, cover with a lid, and cook for 15 minutes, stirring occasionally to prevent sticking.
Remove the lid, stir, and sprinkle the shredded mozzarella and grated Parmesan evenly over the top.
Transfer the pot to the preheated oven and bake uncovered for 15 minutes, or until the cheese is melted and bubbly.
Remove from the oven and let it rest for 5 minutes.
Garnish with chopped fresh parsley before serving.