Spray 12-inch skillet with cooking spray; heat over medium-high heat. Add beef and onion; cook 7 to 9 minutes, stirring occasionally, until beef is brown; drain.
Spray 3 1/2- to 4-quart slow cooker with cooking spray. Mix beef mixture and remaining ingredients except cheese and cilantro in cooker.
Cover; cook on Low heat setting 7 to 9 hours. Top individual servings with cheese and cilantro.