Cook the lasagna noodles according to the package instructions. Drain and lay them flat on a baking sheet or parchment paper to prevent sticking.

In a large skillet, heat the olive oil over medium heat. Add the chopped onion and minced garlic, sautéing until fragrant and translucent. Add the ground beef and cook until browned. Drain any excess fat.

Stir in the taco seasoning and diced tomatoes (with juices). Let the mixture simmer for about 5 minutes, allowing the flavors to meld together beautifully.

Preheat your oven to 375°F (190°C). On each lasagna noodle, spread a thin layer of refried beans, followed by a spoonful of the seasoned beef mixture. Sprinkle with shredded cheese, then carefully roll up the noodle. Place each roll-up seam-side down in a greased baking dish.

Once all the roll-ups are assembled in the baking dish, sprinkle the remaining cheese evenly over the top.

Cover the baking dish with aluminum foil and bake in the preheated oven for 20 minutes. Remove the foil and bake for an additional 10 minutes, or until the cheese is melted and bubbly.

Let the roll-ups sit for a few minutes before serving. Garnish with fresh cilantro, and serve with optional sour cream and salsa on the side for an added burst of flavor.