Spread the browned beef and onion mixture evenly over the potatoes.
In a small bowl, mix together the cream of mushroom soup, milk, salt, and pepper. Pour half of this mixture over the beef and potatoes.
Sprinkle 1 cup of shredded cheddar cheese over the top.
Layer the remaining potatoes over the cheese, then pour the remaining soup mixture over the top.
Cover the dish with foil and bake in the preheated oven for 30 minutes.
Remove the foil, sprinkle the remaining 1 cup of cheese on top, and bake for another 15-20 minutes, or until the potatoes are tender and the cheese is golden and bubbly.
Let the casserole cool for a few minutes before serving to allow the layers to set.
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