Heat a large skillet over medium-high heat. Spray with cooking spray and add the ground beef. Brown until cooked through and no longer pink. Discard any fat. Add the pasta, milk, water, and spices and stir to combine. Bring to a boil and turn the heat down to simmer. Cover and cook for 10-12 minutes, or until the pasta is al dente. Add the cheese and stir to combine. Serve immediately.