Bring a large pot of salted water to a boil, add lasagna noodles, and cook according to package instructions until al dente, about 8-10 minutes. Drain and rinse with cold water.

In a large skillet, heat olive oil over medium heat and cook ground beef until browned, about 5-7 minutes. Drain fat and add marinara sauce, diced tomatoes, and Italian seasoning. Simmer for 10 minutes.

In a medium bowl, mix ricotta cheese, egg, and grated Parmesan until smooth. Set aside.

Preheat oven to 375°F (190°C). Grease baking dish. Layer meat sauce, noodles, ricotta mixture, and mozzarella cheese. Repeat layers, finishing with meat sauce and remaining mozzarella and Parmesan.

Cover with aluminum foil and bake for 25 minutes. Remove foil and bake for another 20 minutes until cheese is bubbly and golden brown.

Let cool for 10 minutes before slicing. Garnish with chopped basil or parsley if desired.