Heat the olive oil in a large skillet over medium heat. Add the onions and garlic. Sauté until soft and fragrant, about 5 minutes.
Add the ground beef to the skillet. Cook, breaking up clumps with a wooden spoon, until fully browned, about 8-10 minutes. Drain off excess fat if needed.
Stir in the marinara sauce and half the Italian herbs. Bring to a gentle boil, then reduce the heat and let simmer until thickened, about 15-20 minutes, stirring occasionally. Taste and adjust seasoning with salt and pepper.
Preheat the oven to 375°F.
In a medium bowl, mix the cream cheese, half the mozzarella, the Parmesan, the parsley, and the remaining Italian herbs. Season to taste with salt and pepper. Stir until very smooth.
Lay the precooked lasagna noodles flat on a clean surface. Spread equal portions of the cheese mixture over each noodle. Roll up tightly from one short end.
Spread half the beef mixture into the bottom of a 9x13-inch casserole dish. Arrange the rolled noodles seam-side down on top.
Cover the rolled noodles with the remaining meat sauce, then sprinkle the remaining mozzarella overtop.
Cover the casserole with foil and bake for 30 minutes. Remove foil and broil for 3–5 minutes, until top is golden and bubbling. Watch closely to avoid burning.
Remove from oven and let the dish rest for 5 minutes before serving warm.