In 10-inch skillet, cook beef over medium-high heat until thoroughly cooked, stirring frequently; drain well.
In 4- to 6-quart slow cooker, mix cooked beef and all remaining ingredients except mixed vegetables and noodles.
Cover; cook on Low heat setting 6 to 8 hours.
About 20 minutes before serving, stir in thawed vegetables and noodles. Increase heat setting to High; cover and cook 15 to 20 minutes longer or until vegetables are crisp-tender and noodles are tender.