Cook pasta according to package directions.
Meanwhile, spray large skillet with cooking spray; heat over medium-high heat. Add beef, onion, salt and pepper; cook 5 to 6 minutes or until beef is crumbled and no longer pink, stirring occasionally. Add garlic; cook 1 minute more or until fragrant.
Add fennel and mushrooms. Cook 3 to 5 minutes or until vegetables are tender. Stir in tomato paste. Add undrained tomatoes; reduce heat and simmer 5 minutes. Stir in cooked pasta; simmer 2 minutes more or until hot.
