Heat olive oil in a large skillet or pot over medium heat. Add the chopped onion, carrot, and celery, and cook for 5-7 minutes until softened.

Add the ground beef and pork to the skillet, breaking it up as it cooks. Cook until browned and no longer pink, about 8-10 minutes. Drain any excess fat if needed.

Stir in the tomato paste and cook for 1-2 minutes, stirring constantly, to toast it slightly and deepen the flavor.

Add the crushed tomatoes, whole milk, and a pinch of nutmeg. Stir everything together and season with 1 teaspoon of salt and 1/2 teaspoon of black pepper.

Reduce the heat to low and simmer the sauce uncovered for 45 minutes to 1 hour, stirring occasionally. The sauce should thicken, and the flavors will meld. If it becomes too thick, add a splash of milk or water.

While the sauce simmers, bring a large pot of salted water to boil. Cook the rigatoni according to the package instructions until al dente. Reserve 1/2 cup of the pasta water before draining.

Toss the cooked pasta with the sauce until evenly coated. If the sauce is too thick, use the reserved pasta water to help loosen it.

Serve the pasta warm, topped with freshly grated Parmesan cheese and freshly chopped parsley or basil. Enjoy!