Prepare the Ground Beef and Bacon: Heat the olive oil in a large skillet over medium heat. Add the ground beef and cook until browned. Season with salt, pepper, Worcestershire sauce, ketchup, and mustard. Add the chopped onion and garlic, sautéing until softened. Stir in the crumbled bacon and remove from heat.
Preheat the Oven: Preheat your oven to 375°F (190°C).
Layer the Lasagna: In a 9x13-inch baking dish, spread a thin layer of the beef-bacon mixture. Then, add a layer of lasagna noodles followed by ricotta cheese and shredded mozzarella and cheddar. Repeat the layers, finishing with a top layer of cheese and Parmesan.
Bake the Lasagna: Cover the lasagna with aluminum foil and bake for 25-30 minutes. Then, remove the foil and bake for another 10-15 minutes until the top is golden and bubbly.
Let It Rest: Once baked, remove the lasagna from the oven and let it sit for 5-10 minutes to set before slicing and serving.