1. Cook pasta in a large Dutch oven according to package directions, omitting salt and fat; drain, return to pan, and keep warm.
2. While pasta cooks, remove casings from sausage. Heat a large nonstick skillet over medium-high heat. Coat pan with cooking spray. Add sausage, beef, and onion; cook 2 minutes, stirring to crumble; drain, if necessary. Add mushrooms and rosemary. Cook 5 minutes or until browned.
3. Stir in tomatoes; reduce heat, and simmer, uncovered, 3 minutes. Stir in milk, pepper, and salt; cook 2 minutes. Add sauce to pasta, tossing well. Sprinkle with cheese, if desired.
Serve with: Shaved Fennel Salad
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