Preheat your oven to 375°F (190°C).
Cook the lasagna noodles according to the package instructions until al dente; drain and lay flat.
In a skillet, brown the ground beef over medium heat until fully cooked, then drain excess fat.
Add taco seasoning to the beef, along with half of the salsa, and stir to combine thoroughly.
Spread a thin layer of marinara sauce on the bottom of a baking dish.
On each lasagna noodle, layer ricotta cheese, the taco beef mixture, and some cheddar cheese, then roll up tightly.
Place the rolled noodles seam-side down in the baking dish, then cover with the remaining marinara sauce and cheddar cheese.
Cover the dish with aluminum foil and bake for 25 minutes. Then remove the foil and bake for an additional 15 minutes until bubbly.
Let it cool slightly before serving, topping with sour cream and fresh cilantro as desired.