Preheat your oven to 400°F (204°C) and lightly grease a 9-inch pie plate with a non-stick cooking spray.
In a large sauté pan set over medium heat, combine the ground beef, chopped onion, minced garlic, Worcestershire sauce, salt, and pepper. Cook until the meat is browned and fully cooked through, approximately 10 minutes. Drain any rendered fat, then transfer the mixture evenly into the greased pie plate.
In a separate mixing bowl, blend together the Bisquick mix, milk, and eggs until fully incorporated. Carefully pour this batter over the beef filling, ensuring even distribution.
Sprinkle the grated cheddar uniformly over the top.
Place the dish in the preheated oven and bake for 30–40 minutes, or until the top achieves a golden hue and the center is firm. Remove from the oven and allow the pie to rest for 10 minutes before slicing and serving.