Your problem is probably either mash conversion or lauter (sparge) efficiency. To find out which, you need to measure. At the end of your mash, measure the gravity of the wort. Use this spreadsheet
http://braukaiser.com/documents/efficiency_calculator.xls to work out your conversion efficiency. It should be over 90%, preferably over 95%. If it's not, you need to mash longer or crush finer (or maybe address water issues). Unfortunately most recipes say 'mash for 60 minutes'. This is poor advice. A BIAB'er with a very fine crush can get full conversion in much less than 60 minutes. A coarse HERMS crush might take 90 minutes. A poor crush might take longer still. The point is that the mash should run for as long as it needs to. Adding a rest at about 162F helps speed up conversion.
If conversion efficiency isn't the issue, it's probably lauter efficiency. Measure the gravity in the boil kettle and multiply it by the volume in the boil kettle, then divide by the total potential gravity points. There are also lots of online calculators that will work it out for you. For a single sparge beer in the 1.050 to 1.060 range, this should be somewhere around 70 to 80% at a rough guess. If it's much lower than that, you must be leaving liquid behind when you drain the mash tun.
If efficiency is good into the boil kettle, your problem must be lost wort after boilling.
Hope this helps.