Preheat your oven to 350°F (175°C).
In a large skillet over medium-high heat, cook the ground beef until browned and crumbly.
Add the chopped onion, minced garlic, salt, and pepper to the skillet. Cook until the onion is tender.
Drain any excess fat from the skillet and stir in the Worcestershire sauce.
In a bowl, mix the cream of mushroom soup and milk until smooth.
In a greased baking dish, layer half of the beef mixture, followed by half of the potato slices. Pour half of the soup mixture over the top and sprinkle with half of the cheddar cheese.
Repeat the layers once more, ending with the cheddar cheese on top.
Cover the casserole with foil and bake for 1 hour. Remove the foil and bake for an additional 20 minutes until the cheese is bubbly and golden