Cook the lasagna noodles according to the package directions, drain, and set aside to cool slightly so they are easy to handle.

In a skillet over medium heat, brown the ground beef until fully cooked; drain any excess fat and transfer the beef to a mixing bowl.

Cook the bacon until crisp, drain on paper towels, then crumble—reserve half for mixing into the filling and the rest for topping.

Preheat the oven to 350°F (175°C) and coat a 9x13-inch baking dish with nonstick spray.

Combine the cooked beef, half of the crumbled bacon, diced tomato and onion, ketchup, mustard, half of the shredded cheese, 1 tablespoon of the bread crumbs, and salt and pepper in the bowl; mix until evenly combined.

Lay the cooked lasagna noodles flat on a work surface. Spread an even portion of the meat mixture down the length of each noodle, then carefully roll each noodle up and place it seam-side down in the prepared dish.

Pour the tomato pasta sauce over the arranged rolls. Sprinkle the remaining crumbled bacon, the rest of the shredded cheese, and the remaining tablespoon of bread crumbs on top.

Cover the dish with foil and bake for 25 minutes. If the cheese hasn't fully melted, remove the foil and bake another 3–5 minutes until the topping is bubbly.

Allow the lasagna rolls to rest a few minutes before serving. Recipe yields 8 rolls (one roll per serving).

Make-ahead and freezing: cool completely, then freeze in airtight containers or wrap individually—reheat from frozen until heated through.