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In a large Dutch oven (or large pot), brown ground beef on medium high until fully cooked, making sure to leave the meat untouched for a couple of minutes to get some brown crispy bits. Remove the beef and set aside in a bowl. Skim off most of the excess fat in the pan.
Meanwhile, get a pot of water boiling in a separate pot and cook the pasta.
Into the same Dutch oven (still over medium high heat), add the jalapeno, bell peppers, and onion. Cook for about 8-10 minutes or until partially caramelized, stirring frequently and scraping the browned bits from the bottom of the pan. Add in the garlic near the end and be careful not to let it burn. Remove veggies and set aside.
Into the same pot, add milk, half and half, and Velveeta. Bring to a gentle boil, stirring to incorporate the Velveeta. Whisk in the taco seasoning and fold in the drained Ro-Tel tomatoes and shredded cheeses. Stir until the cheese melts.
Add the ground beef and pepper/onion mixture into the cream sauce along with the cooked pasta. Fold all the ingredients into the sauce, evenly combining. Serve immediately.