Prepare the Meat Sauce
Heat olive oil in a large deep skillet or Dutch oven over medium heat.
Add ground beef, onion, and garlic. Cook until the beef is browned and the vegetables are softened.
Stir in marinara sauce, salt, pepper, basil, and oregano. Simmer for 15 minutes.
Make the Béchamel Sauce
In a separate saucepan, melt butter over medium heat.
Whisk in flour and cook for 2 minutes to make a roux.
Gradually whisk in milk until smooth.
Continue cooking until the sauce thickens, about 5-7 minutes.
Remove from heat and set aside.
Assemble the Lasagna
Spread a thin layer of meat sauce on the bottom of the skillet.
Layer lasagna noodles over the sauce.
Spread half of the remaining meat sauce over the noodles.
Pour half of the béchamel sauce over the meat sauce.
Sprinkle with half of the mozzarella and Parmesan cheese.
Repeat layers: noodles, remaining meat sauce, remaining béchamel sauce, and remaining cheese.
Bake
Cover the skillet with a lid or foil and bake in a preheated 375°F (190°C) oven for 25 minutes.
Uncover and bake for an additional 10-15 minutes until the top is golden and bubbly.
Serve
Let the lasagna cool for 5 minutes before serving.
Garnish with fresh basil if desired.