Heat oven to 350°F. Spray 2-quart casserole with nonstick cooking spray. Prepare rice mix as directed on package, omitting margarine.
Meanwhile, brown ground beef in medium skillet over medium-high heat until thoroughly cooked, stirring frequently. Drain. Add soup, milk, pepper and cooked rice mixture; mix well. Spoon into sprayed casserole. Cover.
Bake at 350°F. for 30 minutes. Uncover; sprinkle with cheese. Bake, uncovered, an additional 5 to 10 minutes or until cheese is melted.