Preheat your oven to 375°F (190°C).

In a large skillet over medium heat, cook the ground beef, onion, and garlic until the beef is browned and the onion is translucent, about 5-7 minutes. Drain excess fat if necessary.

Stir in the taco seasoning, black beans, corn, and diced tomatoes. Cook for an additional 5 minutes until heated through.

In a 9x13 inch baking dish, spread a thin layer of salsa on the bottom. Place 3 lasagna noodles over the salsa.

Spread half of the beef mixture over the noodles, followed by a layer of sour cream and a sprinkle of cheddar cheese. Repeat the layers with 3 more noodles, the remaining beef mixture, sour cream, and mozzarella cheese.

Top with the final 3 noodles, remaining salsa, and the rest of the cheddar and mozzarella cheese.

Cover the dish with aluminum foil and bake for 25 minutes. Remove the foil and bake for an additional 15 minutes, or until the cheese is bubbly and golden.

Let the lasagna cool for 10 minutes before slicing. Garnish with fresh cilantro if desired.