Brown beef in large skillet. Add onions and garlic. Cook, stirrin, until onions are tender. Add seasonings, tomatoes, tomato paste, and beans. Cover and simmer 30 minutes. Transfer to large casserole. Make a well in center of beef mixture and fill with drained pasta. Mix milk, eggs, and cheese; pour over pasta. Bake at 375 degrees for 15 minutes or until lightly browned.