Preheat oven to 375 degrees F (190 degrees C). Grease a 9x13 inch baking dish.
In a large skillet, brown the ground beef over medium heat. Drain off any excess grease. Add the chopped onion and minced garlic, and cook until the onion is softened, about 5 minutes.
Stir in the cream of mushroom soup, milk, salt, and pepper. Mix well.
Layer half of the sliced potatoes in the bottom of the prepared baking dish. Pour half of the beef mixture over the potatoes.
Repeat the layers with the remaining potatoes and beef mixture.
Cover the dish with aluminum foil and bake for 30 minutes.
Remove the foil, sprinkle the shredded cheddar cheese evenly over the top. Return to the oven and bake for another 15-20 minutes, or until the cheese is melted and bubbly and the potatoes are tender.
Let stand for 5-10 minutes before serving.
Notes
This casserole can be made ahead of time and reheated. For a different flavor profile, try adding a can of drained diced tomatoes or a pinch of paprika.