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In 10-inch skillet, cook beef over medium-high heat 5 to 7 minutes, stirring occasionally, until thoroughly cooked; drain.
Stir in hot water, milk, uncooked pasta and sauce mix (from Hamburger Helper box), corn and green beans. Heat to boiling, stirring occasionally.
Reduce heat; cover and simmer 5 minutes, stirring occasionally. Remove from heat; uncover (sauce will thicken as it stands). Stir before serving.