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Heat the olive oil in a large heavy-based saucepan over a medium heat.
Add the diced brown onion, carrots and celery and cook, stirring occasionally, until softened, about 8-10 minutes.
Push the vegetables to one side of the pan and add the minced beef to the other. Break it up with a spoon and cook until browned all over, about 8-10 minutes. Drain off any excess fat, then stir the meat in with the vegetables.
Stir in the garlic and cook until fragrant, about 1 minute.
Pour in the red wine, scrape up any browned bits from the base of the pan and simmer until reduced by half, about 5-7 minutes.
Add the milk and bring to a gentle simmer. Cook until the milk has nearly evaporated, about 10-15 minutes.
Stir in the crushed tomatoes, beef stock, bay leaf and grated nutmeg. Season with salt and freshly ground black pepper.
Bring the sauce to a gentle simmer, reduce the heat to low, partially cover and cook for 1½-2 hours, stirring occasionally.
About 15 minutes before serving, bring a large pan of salted water to the boil. Add the rigatoni and cook until al dente, following the packet instructions. Reserve about 250 ml of the cooking water before draining.
Drain the pasta and add it to the Bolognese sauce. Stir to coat, adding a little of the reserved cooking water if needed to loosen the sauce.
Serve immediately, topped with freshly grated Parmesan and a scattering of chopped fresh parsley, if you like.