In 10-inch skillet, cook beef over medium-high heat 5 to 7 minutes, stirring frequently, until thoroughly cooked; drain.
Stir in hot water, milk, uncooked pasta and sauce mix (from Hamburger Helper box) and taco seasoning mix. Heat to boiling, stirring occasionally.
Reduce heat; cover and simmer 5 minutes, stirring occasionally. Stir in beans, frozen corn and salsa; return to boiling. Reduce heat; cover and simmer 5 minutes. Remove from heat; uncover (sauce will thicken as it stands). Sprinkle with cheese. Let stand 5 minutes.