Add noodles to boiling water and cook until noodles are pliable, but not fully soft, 8 minutes. Drain in colander under cold running water to cool. Shake off excess water and halve noodles lengthwise, so they fit in casserole dish. Place noodles on a plate, toss with 1 tsp. olive oil, and set aside. Reserve pot and colander (no need to wipe clean). While pasta boils, prepare ingredients.

Mince two garlic cloves. Wrap remaining two whole garlic cloves in foil, drizzle with a drop of olive oil, and season with a pinch of salt. Combine ricotta cheese and Parmesan cheese (reserve a pinch for garnish) in a small mixing bowl. Halve baguette lengthwise.

Return pot used to cook pasta to medium-high heat. Add ground beef, minced garlic (reserve whole cloves for bread), 1 tsp. salt, and 1/2 tsp. pepper to hot pot and cook until browned and fat has rendered, 5-8 minutes. Place colander in large mixing bowl and carefully drain beef, removing excess fat into bowl. Return drained beef to pot. Add marinara sauce and 1/4 cup water to pot. Stir to combine and warm through, 2-3 minutes.

Place prepared casserole dish and foil pack containing garlic cloves on prepared baking sheet. Smear 1/4 the filling in bottom of casserole dish and top with noodles, arranging and cutting noodles if necessary to fit into a single layer. Top noodles with 1/3 the ricotta cheese mixture, 1/4 the mozzarella cheese, and 1/4 the filling. Repeat layering two times, topping lasagna with remaining mozzarella. Bake until cheese is browned and bubbly, 35-40 minutes. Remove from baking sheet and rest 5-10 minutes before serving. While lasagna is resting, make garlic bread.

Mash roasted garlic cloves into a paste and combine 2 Tbsp. olive oil in a small bowl. Spread mixture on cut sides of bread, carefully place on baking sheet used to bake lasagna, and bake until golden brown, 6-9 minutes. Cut into wedges if desired.

Cut out squares of lasagna, garnish with reserved Parmesan cheese, and serve garlic bread alongside.