Place the semola on a clean work surface and gradually add the water, mixing it in slowly while kneading continuously. You can also use a stand mixer fitted with a dough hook.
Knead until you obtain a smooth, uniform dough.
Shape the dough into a ball, wrap it tightly in plastic wrap, and let it rest at room temperature for about 30 minutes.
Roll out the dough using a pasta machine or a rolling pin until you get a smooth, thin sheet about 2 millimeters (0.08 inches) thick.
Cut the sheet into squares of equal size, each side measuring approximately 2 centimeters (0.8 inches).
Place each square over a smooth pasta board or work surface, then position the shaping stick diagonally across the dough. Roll the dough around the stick to form the characteristic hollow, cylindrical shape with diagonally cut ends of penne lisce. Gently remove the pasta from the stick and continue until all the dough has been used.
Alternatively, cut the dough into strips and feed them into a pasta extruder fitted with a smooth penne die. Extrude the dough and cut it into pieces of approximately 5 centimeters (2 inches) in length.
Then, using a knife, trim both ends diagonally to obtain the characteristic slanted edges of penne lisce. Continue until all the dough has been used.
Arrange the finished penne lisce on a tray, keeping the pieces well separated, and leave them in a cool, dry place until ready to cook.