Infrastructure as Code (IaC) uses versionable software code to define, deploy, and configure physical computational resources, software execution platforms, and applications. As a result, IaC enables the scalable management of complex computing environments while preventing environment drift. IaC frameworks typically offer specific languages such as the industrial Terraform, Ansible, Chef, or TOSCA—standing for Topology and Orchestration Specification for Cloud Applications—the OASIS (Organization for the Advancement of Structured Information Standards) open standard approach to IaC. Developing high-quality IaC for deploying and managing applications demands expertise and knowledge in specific IaC languages, infrastructure resources, resource providers, quality issues in IaC scripts, and so on. While several model-driven engineering (MDE) approaches have been proposed to simplify IaC development, they cannot capture and use expert knowledge to assist with modeling tasks and MDE processes by providing interactive recommendations. This paper presents a knowledge-based framework for guiding the model-driven development of IaC. We use TOSCA as the target IaC language as it is an open standard. We enable IaC and resource experts to share their IaC and resource-related knowledge with application operational experts to help simplify the development of application deployment models. We use an ontology to record the relevant deployment knowledge and ontology reasoning to implement modeling guidance capabilities such as TOSCA model auto-completion, code smell and error detection, and model element matchmaking. We show the flexibility of our methodology by applying it to three industrial applications, covering cloud, edge, and HPC (High-Performance Computing) domains. Moreover, we also assess the use acceptance of our approach and framework by conducting controlled experiments with expert and non-expert IaC users. The results indicate that our method can simplify IaC development by providing appropriate recommendations.