In a large skillet, cook the ground beef over medium heat until browned. Drain the fat.
2
Add the chopped onion and minced garlic to the skillet, and cook until the onion is tender, about 3-4 minutes.
3
Stir in the crushed tomatoes, tomato paste, water, chopped parsley, dried basil, dried oregano, salt, and ground black pepper. Bring the sauce to a simmer and let it cook for 15 minutes, allowing the flavors to meld.
4
While the sauce is simmering, bring a large pot of salted water to a boil. Cook the penne rigate according to package instructions until al dente, then drain.
5
Toss the cooked pasta with the warm meat sauce. Serve hot, sprinkling each portion with grated Parmesan cheese.