In a large skillet, brown the ground beef over medium heat until fully cooked, then drain the excess fat.

Meanwhile, bring a pot of salted water to a boil and cook the pasta shells according to package directions until al dente; drain and set aside.

Using the same skillet from the beef, place the cubed Velveeta over low heat. As the cheese begins to melt, pour in the milk and stir continuously until the mixture becomes smooth and fully combined.

Return the cooked ground beef to the skillet, then add in the drained pasta shells and fold everything together gently. Sprinkle in the taco seasoning and stir until evenly distributed.

Incorporate the can of Rotel, mixing thoroughly to blend the flavors.

Finally, add the shredded sharp cheddar cheese and stir until the cheese melts and integrates into the pasta mixture. Serve warm.