Preheat oven to 375°F (190°C) and lightly grease a 9x13-inch baking dish.
Cook penne in salted boiling water until al dente; drain.
Heat olive oil in a large skillet; cook onion until softened, then add garlic.
Add ground beef and cook until browned; drain excess fat if needed.
Stir in tomato paste, Italian seasoning, oregano, smoked paprika, salt and pepper.
Add marinara and simmer about 10 minutes.
Toss penne with the meat sauce until evenly coated.
Spread half the pasta in the dish, top with half the mozzarella and Parmesan.
Add remaining pasta and finish with remaining cheeses.
Bake 20–25 minutes until melted, bubbly and lightly golden.
Broil 2–3 minutes if desired for an extra golden crust.
Rest 5–10 minutes, garnish with parsley or basil, and serve.