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Preheat oven to 350°F. Spray 15 in. x11 in. pan with vegetable cooking spray.
In large sauce pan, heat oil on medium heat; add onions and cook until softened, about 5 minutes. Add garlic and cook an additional 3 minutes. Increase heat to medium-high and add the ground beef, oregano, salt and pepper; break up meat into small pieces with spatula. Cook until no longer pink; drain well. Stir in sauce.
In medium bowl, combine ricotta cheese, 1/2 cup Parmesan cheese, parsley, eggs, basil, salt, pepper and milk; stir until smooth.
To assemble lasagna, spread a thin layer of sauce mixture over bottom of prepared pan; place 1 layer uncooked lasagna noodles over sauce. Spread on 1/2 of ricotta cheese mixture, 1/3 of mozzarella cheese, 1/3 of sauce; top with uncooked lasagna noodles. Repeat layering one more time. Top with remaining sauce. Sprinkle with remaining mozzarella and 1/4 cup Parmesan cheeses.
Lightly spray aluminum foil with vegetable pan spray. Cover lasagna tightly with foil, sprayed side down. Bake 1 hour or until hot and bubbly; remove foil during last 15 minutes. Remove from oven and let stand 15 minutes before serving.