Preheat oven to 350 Coat 2-quart baking dish with cooking spray
In nonstick skillet over medium-high heat, cook beef until no longer pink, 3-5 minutes; spoon off fat. Stir in sloppy joe sauce; cook 5 minutes. Remove from heat. Meanwhile, cook macaroni according to package directions, reserving sauce packets; drain. In bowl, whisk cheese packets with milk and eggs until smooth; stir in pasta and 1 cup cheese. Spread half of macaroni mixture in dish; top with Sloppy Joe mixture, then remaining macaroni. Cover; bake until bubbly, 30 minutes. Uncover; sprinkle with remaining cheese. Bake 5 minutes. Garnish with chopped fresh parsley, if desired.