Preheat oven to 450°F (230°C). Lightly grease a 9×13-inch baking dish with olive oil.

In a large skillet over medium heat, warm the olive oil. Add ground beef, season with salt and pepper, and cook until no longer pink, about 5–7 minutes. Drain fat.

Stir in marinara sauce and let the mixture simmer for 3–4 minutes until flavors meld.

Spread half of the meat sauce evenly on the bottom of the baking dish. Arrange half of the ravioli in a single layer over the sauce.

Sprinkle half of the mozzarella and Parmesan cheeses over the ravioli.

Add remaining sauce, ravioli, and top with the rest of the cheeses.

Cover with foil and bake 20 minutes. Remove foil; bake 10 more minutes until cheese is bubbly and golden.

Let stand 5 minutes. Sprinkle with chopped fresh basil before serving.