In 10-inch skillet, cook beef over medium-high heat, stirring frequently, until brown; drain.
Add uncooked rice and contents of pouches (from Hamburger Helper box), hot water and milk to skillet. Stir until well combined. Heat to boiling. Reduce heat. Cover; simmer about 25 minutes, stirring occasionally, until rice is tender.
Remove from heat. Top with shredded cheese and taco sauce. Serve with scoop-shaped corn chips.