Heat oven to 350°F. In 10-inch skillet, cook beef over medium-high heat 5 to 7 minutes, stirring occasionally, until thoroughly cooked; drain. Stir in 1/2 cup milk, hot water and contents of uncooked rice and sauce mix pouches (from Hamburger Helper box). Heat to boiling, stirring occasionally. Reduce heat; cover and simmer about 15 minutes, stirring occasionally, until rice is tender.