In 4-quart Dutch oven, cook beef over medium-high heat 5 to 7 minutes, stirring occasionally, until thoroughly cooked; drain.
Stir in hot water, sauce mix and uncooked pasta (from Hamburger Helper box), salsa, milk, chili powder and beans. Heat to boiling, stirring frequently.
Reduce heat; cover and simmer about 10 minutes, stirring occasionally, until pasta is tender.
Remove from heat; stir. Sprinkle each serving with 2 tablespoons cheese and tomato.