Preheat oven to 375°F (190°C).
In a large skillet, heat olive oil over medium heat. Add chopped onion and minced garlic; cook until softened.
Add black beans, dried oregano, dried basil, salt, and pepper to the skillet. Cook for another 5 minutes.
Spread 1 cup of marinara sauce on the bottom of a 9x13 inch baking dish.
Layer 3 cooked lasagna noodles over the sauce.
Spread half of the bean mixture over the noodles, then half of the ricotta cheese, followed by 1 cup of shredded mozzarella cheese.
Repeat the layers: 3 noodles, remaining bean mixture, remaining ricotta, 1 cup mozzarella cheese.
Top the final layer with the last 3 noodles and the remaining marinara sauce. Sprinkle grated Parmesan cheese and any remaining mozzarella cheese on top.
Cover the baking dish with aluminum foil and bake for 30 minutes.
Remove the foil and bake for an additional 15 minutes, or until the cheese is golden and bubbly.
Let the lasagna sit for 10 minutes before serving.