Place ground beef, bacon and onion in a large, deep skillet. Cook over medium high heat until evenly brown. Drain, crumble and place in a large saucepan along with tomatoes, soup, milk and 1/2 cup cheese. Cook, stirring, until it comes to a low boil.
Stir in pasta, reduce heat to medium-low and cook until pasta is tender, stirring often to prevent sticking.
Transfer to a 9x9 inch baking dish and sprinkle remaining cheese on top.
Bake in preheated oven for 10 minutes or until cheese is melted.
