In a large skillet or pot, brown the ground beef over medium heat. Drain excess grease.
Add the onion and garlic, cooking until softened.
Stir in the taco seasoning, salsa, beef broth, and milk. Mix well.
Add the uncooked pasta shells and bring the mixture to a boil.
Reduce heat, cover, and simmer for 12-15 minutes, stirring occasionally, until the pasta is cooked.
Stir in the shredded cheddar cheese until melted and creamy.
Season with salt and pepper to taste. Garnish with fresh cilantro before serving.