In 12-inch nonstick skillet, cook turkey, onion and garlic over medium heat 5 to 7 minutes, stirring occasionally, until turkey is no longer pink. Add hot water and sauce mix (from Hamburger Helper™ box); stir to combine. Stir in 1 cup milk, uncooked rice (from Hamburger Helper™ box), beans and cumin. Heat to boiling, stirring occasionally. Reduce heat; cover and simmer about 20 minutes, stirring frequently, until rice is tender.