Heat oven to 400 degrees F. Spray 9-inch glass pie plate with cooking spray. In 10-inch skillet, cook beef and onion over medium-high heat, stirring frequently, until beef is thoroughly cooked; drain. Stir in salt and pepper. Spread in pie plate; sprinkle with cheese.
In medium bowl, stir Bisquick mix, milk and eggs until blended. Pour into pie plate.
Bake 25 to 30 minutes or until knife inserted in center comes out clean.