1. Preheat the oven to 350°F and lightly grease a 9×13-inch baking dish.

2. Warm a skillet over medium heat and cook the ground beef until fully browned, breaking it apart as it cooks. Drain any excess fat and season with salt and pepper.

3. Peel the potatoes and slice them thinly. Arrange a single layer across the bottom of the prepared baking dish.

4. Spread the cooked beef evenly over the potatoes.

5. In a separate bowl, whisk together the condensed soup and milk until smooth. Pour this mixture over the beef and potatoes, making sure it reaches the edges.

6. Bake uncovered for 1 hour.

7. Remove from the oven, sprinkle the shredded cheese over the top, and return to bake for an additional 15 minutes, or until the cheese has melted and the casserole is bubbling.

8. Let the casserole rest for about 5 minutes before serving to help the layers set.