Preheat oven to 350 degrees F. Spray a 2-quart baking dish with cooking spray. Set aside.
Cook pasta in salted water until al dente, according to package instructions (about 8-10 minutes). Drain.
While the pasta cooks, brown beef, onion and garlic in a large skillet over medium-high heat until meat is no longer pink. Drain. Stir in condensed soup, milk, tomatoes, pickle relish, mustard, ketchup, Worcestershire sauce, salt, pepper, 1 cup of cheese, and cooked pasta.
Transfer mixture to the prepared baking dish. Sprinkle remaining 1 cup cheese over top. Bake for 15-20 minutes, or until cheese is melted and casserole is heated through.
Garnish with sliced green onions, dill pickle, or fresh herbs, if desired.