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Heat a large, deep skillet on medium high heat and add the beef and taco seasoning. Cook, breaking the meat up into small pieces until browned, 5-6 minutes.
Add the onion and bell peppers; cook until aromatic; 2 to 3 minutes.
Stir in the canned tomato and beef broth and bring to a boil.
Add the macaroni and make sure to submerge pasta into the liquid.
Lower heat to medium-low and cover. Cook 8 to 10 minutes, stirring halfway until the pasta is almost tender and the liquid is mostly absorbed.
Uncover, add the milk, and cook, covered stirring periodically medium-low until pasta is al dente and most of the liquid is absorbed, 8 to 10 minutes.
Remove from heat, uncover and add cheese. Stir to combine.