Brown 1 lb ground beef in a large skillet over medium-high heat
Drain excess fat
Add 2 cups water, 1 cup milk, and the seasoning packet from the Hamburger Helper box
Stir in the dry pasta from the box
Bring to a boil
Reduce heat to low
Cover and simmer for about 12 to 15 minutes, stirring occasionally, until pasta is tender
Remove from heat
Let sit for 2 to 3 minutes to thicken
Serve warm