Preheat oven to 450F.
Heat olive oil in a large stovetop and oven safe nonstick skillet.
Add onions and turkey meat; season with salt and pepper and cook for 4 to 5 minutes, stirring occasionally, until meat is browned on all sides.
Add garlic and continue to cook for 1 more minute.
Stir in the diced tomatoes and tomato sauce; season with Italian Seasoning and dried basil. Reduce heat to medium-low and simmer for 8 minutes.
Add the water and gluten free penne pasta.
Stir to combine and cover with a lid.
Increase heat to medium; continue to cook for 12 to 15 minutes, stirring frequently to avoid burning, until pasta is tender and cooked al dente.
Remove from heat and stir in the milk and parmesan.
Taste for seasonings and adjust accordingly.
Sprinkle mozzarella over the top and transfer to oven.
Bake for 10 to 12 minutes, or until cheese is melted and sauce is bubbly.
Remove from oven and let stand about 5 minutes.
Garnish with parsley.
Serve.