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Preheat oven to 400°. In a medium pot of boiling salted water, cook pasta, stirring occasionally, until very al dente, about 2 minutes less than package instructions. Drain and transfer to a 13" x 9" baking dish.
Meanwhile, heat a large skillet over medium high heat. Evenly distribute beef in large chunks and cook, undisturbed, until a deep brown color develops on the bottom, about 4 minutes. Break up meat with a spatula and continue to cook, stirring occasionally, until no pink remains, about 4 minutes more. Transfer to baking dish.
Reduce heat to medium. Cook onion and garlic, stirring occasionally, until softened and translucent, 5 to 7 minutes. Add tomatoes, mayonnaise, pickles, ketchup, Worcestershire, mustard, and 1 cup water; season with pepper and 1 teaspoon salt. Transfer mixture to baking dish.
Add 3 oz. cheddar and stir until distributed. Top with remaining 3 oz. cheddar, then sesame seeds (if using).
Bake hamburger casserole until cheese is melted and bubbly, 10 to 12 minutes. Top with lettuce.
Make Ahead: Casserole can be assembled, without baking, 1 day ahead. Cover in foil and refrigerate. When ready to serve, bake in preheated oven 12 to 15 minutes.