Heat a large, nonstick skillet over medium-heat. Spray with nonstick cooking spray and add beef; cook, stirring frequently until browned (5 minutes or so).
Add the onion and garlic; cook, stirring occasionally, until softened (about 5 minutes). Stir in the carrot and cook about 2 minutes. Stir in the mushrooms, tomatoes, tomato paste, basil and oregano; bring to a boil. Reduce heat to simmer, and continue to cook- covered- for 10 minutes. Add the milk and cook- uncovered- until the sauce is thickened, about 15 minutes. Add the salt and pepper, to taste.
Divide the cooked spaghetti among 4 bowls and top with the sauce. Garnish with fresh basil, if using.
Notes
*If you're preparing this recipe as GLUTEN FREE, use your favorite gluten free pasta in place of the whole wheat spaghetti.
*I made this recipe as directed, but when I make it again I think I'm going to give the chopped tomatoes a whirl in my food processor before adding it to the pan. It's a little chunky as the recipe is written, and I think pureeing the tomatoes would give it more of a sauce consistency.
*The sauce freezes perfectly. Divide it into into individual servings and de-frost when you have a busy night and don't feel like cooking!
*I have a son who absolutely hates mushrooms. I used small portabello mushroom caps for this recipe and chopped them finely. They're a very "meaty" mushroom and they cooked up well with the meat in the recipe.