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.
1 lb. ground beef, ½ cup chopped onion, 2 teaspoons minced fresh garlic, 1 can condensed cheddar cheese soup (10.75 oz), ½ cup milk, 1 can petite diced tomatoes (14.5 oz), ¼ cup sweet pickle relish, 2 tablespoons yellow mustard, 2 tablespoons ketchup, 1 tablespoon Worcestershire sauce, 1 teaspoon kosher salt, ½ teaspoon black pepper