Heat the olive oil in a large, deep skillet or Dutch oven over medium heat. Add the diced onion and cook for 4-5 minutes, stirring occasionally, until the onion becomes translucent and begins to soften. Add the minced garlic and cook for another minute until fragrant. Now add the sliced sausages to the pan and cook for 2-3 minutes, stirring frequently, to lightly brown them and release their flavors into the oil. This builds a flavorful foundation for the entire dish.

Pour in the whole milk and tomato sauce, stirring to combine with the sautéed aromatics and sausages from Step 1. The sauce should be smooth and well-blended. Add the beef bouillon cube, Italian seasoning, smoked paprika, sugar, salt, and pepper, stirring until the bouillon cube dissolves completely and all seasonings are evenly distributed. Taste and adjust seasoning as needed—I like to be generous with salt at this stage since the pasta will absorb some of the salt from the liquid.

Add the dry penne pasta directly to the sauce from Step 2, stirring well to ensure the pasta is submerged under the liquid. The pasta will cook directly in the creamy sauce, absorbing the flavors as it rehydrates and softens. Bring the mixture to a gentle simmer over medium heat, then reduce heat to medium-low. Simmer for 10 minutes, stirring every 2 minutes to prevent the pasta from sticking to the bottom and to ensure even cooking. I find that frequent stirring keeps the pasta from clumping and helps it cook more uniformly in the liquid.

Remove the skillet from heat and cover it with a lid for 5 minutes. This resting period allows the pasta to finish absorbing the sauce and reach the perfect tender consistency, while the residual heat gently sets the flavors together. The pasta will continue to soften slightly and the sauce will thicken as it sits.

Divide the hot dog pasta among serving bowls or plates. Top each portion with grated parmesan cheese just before serving, allowing the cheese to melt slightly into the warm sauce.