Bring a large pot of salted water to a boil. Add the penne and cook according to package instructions until al dente. Reserve 1 cup of pasta water, then drain the pasta and set aside.
In a skillet over medium heat, melt the unsalted butter. Add the minced garlic and sauté for about 1 minute until fragrant, being careful not to let it brown.
Reduce the heat to low and add the soft goat cheese to the skillet. Stir until the cheese begins to melt and combine with the butter and garlic.
Slowly pour in the half-and-half cream while stirring continuously until you have a smooth sauce. If too thick, add a bit of reserved pasta water to reach desired consistency.
Stir in the salt, pepper, lemon juice, and lemon zest. Taste and adjust seasonings as needed.
Add the cooked penne to the skillet, tossing to coat with the creamy sauce. Stir in the fresh basil until evenly distributed.
Plate the pasta and sprinkle with grated Parmesan cheese and chopped parsley. Enjoy warm!