Combine all the ingredients for the taco seasoning in a small bowl and set aside.
Heat the olive oil in a large pot or Dutch oven over medium-high heat. Add the onion and sauté for 3 minutes until softened.
Add the garlic and ground beef. Cook for 7-8 minutes until the beef is cooked through.
Stir in the taco seasoning, drained diced tomatoes, broth, milk, and pasta shells.
Bring to a boil, reduce the heat to low, cover, and simmer for 8 minutes until the pasta is al dente.
Remove the pot from the heat and add the cream cheese and shredded cheddar. Gently stir everything together until the sauce is smooth and creamy. Garnish with chopped cilantro and serve.
Notes
Taco seasoning: You can substitute the homemade taco seasoning with 1 packet of store-bought taco seasoning if you prefer.
To sneak in some extra veggies, add 2 cups of kale or spinach when adding the diced tomatoes.