Cook the pasta: Bring a large pot of salted water to a boil. Cook the pasta to just shy of al dente according to the package directions.
Drain and set aside. Lightly spray a 9x13-inch baking dish with cooking spray.
Brown the beef: Heat a large skillet over medium heat. Add the ground beef and break it up with a spoon.
Cook until no longer pink, about 5–6 minutes. If there’s excess fat, carefully drain it.
Sauté aromatics: Add the diced onion to the skillet and cook until softened, 3–4 minutes. Stir in garlic and cook 30 seconds, just until fragrant.
Build the burger flavor: Stir in ketchup, mustard, Worcestershire sauce, smoked paprika, onion powder, salt, and pepper.
Add the broth and bring to a gentle simmer. Let it bubble for 2–3 minutes to marry the flavors.
Add tomatoes and pickles: Fold in the cherry tomatoes and chopped pickles. Cook 1–2 minutes to warm through.
Taste and adjust seasoning, adding a pinch more salt or mustard if you like extra tang.
Lighten the sauce: Remove the skillet from the heat and let it cool for 1–2 minutes so the yogurt won’t curdle. Stir in the Greek yogurt until creamy. The mixture should look like a loose, saucy beef topping.
Combine with pasta: Add the cooked pasta to the skillet and toss to coat evenly.
Stir in 1/2 cup of the shredded cheddar and the Parmesan (if using) until just melted.
Assemble: Transfer the mixture to the prepared baking dish. Sprinkle the remaining 1/2 cup shredded cheddar evenly on top.
Bake: Place in a preheated 375°F (190°C) oven and bake for 12–15 minutes, or until the cheese is melted and the edges are lightly bubbling.
Finish and serve: Let the casserole rest for 5 minutes. Top with extra chopped pickles and sliced green onions.
Serve warm with a simple side salad if you like.