In small bowl combine soup and milk; set aside. In 3 quart saucepan over medium-high heat cook beef until browned, stirring to separate. Spoon off fat. Stir in spaghetti sauce. Heat through, stirring occasionally. Heat oven to 400 degrees F. In 8 inch square baking dish, spoon half the meat mixture and arrange half the noodles over mixture; trim to fit. Spoon half the soup mixture over noodles. Repeat layers. Sprinkle with cheese. Bake 30 minutes or until hot and bubbling. Let stand 10 minutes before serving.