Preheat oven to 400°F (200°C).

In a small bowl, combine the cream of mushroom soup and milk until smooth.

Cook ground beef in a skillet over medium-high heat until browned, breaking it apart while cooking.

Drain off any excess fat from the skillet.

Stir the pasta sauce into the cooked beef.

In a 2-quart shallow baking dish, layer half of the beef mixture.

Top the beef mixture with 3 cooked lasagna noodles.

Spread 1 cup of the soup mixture over the noodles.

Add another layer of 3 lasagna noodles.

Spread the remaining beef mixture over the noodles.

Top with the remaining 3 lasagna noodles.

Spread the remaining soup mixture over the noodles.

Sprinkle the shredded mozzarella cheese evenly over the top.

Cover the baking dish with foil.

Bake in the preheated oven for 30 minutes, or until heated through.

Remove the foil cover from the baking dish.

Turn on the broiler.

Broil the lasagna about 4 inches from the heat for 2 minutes, or until the cheese is melted and golden brown.

Let the lasagna stand for 10 minutes before serving.