In large nonstick saucepan or Dutch oven, cook ground beef and bell pepper over medium-high heat for 4 to 6 minutes or until beef is lightly browned, stirring occasionally. Remove beef mixture from saucepan; drain on paper towels. Return beef mixture to saucepan.
Stir in all remaining ingredients except cilantro. Bring to a boil. Reduce heat to medium; cover and cook 15 minutes to blend flavors.
To serve, ladle soup into 6 individual soup bowls. Sprinkle each with cilantro.