Spaghetti Bolognese

3/4 LB ground beef
1 onion, finely chopped
2 garlic cloves, minced
1 carrot, chopped
3 cups sliced fresh mushrooms
1 (14 1/2 ounce) can diced tomatoes
1 TB tomato paste
1/2 tsp dried basil
1/2 tsp dried oregano
1/4 Cup milk
1/2 tsp salt
1/4 tsp fresh ground pepper
1/2 LB spaghetti
fresh basil leaves

1. Spray a large nonstick skillet with canola oil nonstick spray and set over medium-high heat. Add the beef and cook, stirring frequently to break it up, until browned, 5-8 minutes. Add the onion and the garlic; cook stirring occasionally, until softened, about 5 minutes. Stir in the carrot and cook about 2 minutes. Stir in the mushrooms, tomatoes, tomato paste, basil, and oregano; bring to a boil. Reduce the heat and simmer, covered, 10 minutes. Add the milk and cook, uncovered until the sauce is thickened, about 15 minutes longer. Stir in the salt and pepper.
2. Meanwhile, cook the spaghetti according to package directions. Drain, divide among 4 plates, and top with the sauce. Garnish with basil leaves.