In a large pot, saute beef over med-hi heat until browned. Drain excess grease.
Add in broth, tomato paste, and all the seasonings. Stir well and increase to high heat for about 5 minutes to reduce about half of the liquid
Turn heat to low, add in noodles and milk and stir in gently. Simmer covered on low for about 7 - 9 minutes until lasagna noodles at desired consistency. The milk might curdle if you have the heat too high or let the mixture boil for too long. Make sure it just simmers.
Remove from heat and stir in cheeses. Serve hot and enjoy!