In a large skillet over medium heat, cook the ground beef, chopped onion, and minced garlic until the beef is browned and the onion is softened. Drain any excess fat.
Stir in the tomato soup, cream of mushroom soup, and milk. Season with salt and pepper to taste. Mix well and let it simmer for 5 minutes.
While the sauce simmers, cook the egg noodles in a pot of boiling salted water until al dente. Drain well.
Preheat the oven to 350°F (175°C). In a large mixing bowl, combine the cooked noodles and beef mixture. Stir gently to ensure the noodles are well-coated with the sauce.
Transfer the mixture to a greased 9×13-inch baking dish. Sprinkle shredded cheddar cheese evenly over the top, if using.
Bake in the preheated oven for 25-30 minutes, or until the casserole is bubbly and the cheese is melted and golden.
Remove from the oven, let it cool for a few minutes, and garnish with fresh parsley before serving.