Heat the oven to 400°F. Stir the soup and milk in a small bowl until the mixture is smooth.
Cook the beef in a 10-inch skillet over medium-high heat until well browned, stirring often to separate meat. Pour off any fat. Stir in the sauce.
Layer half the beef mixture, 3 noodles and 1 cup soup mixture in an 11 x 7 x 2-inch baking dish. Top with 3 noodles, remaining beef mixture, remaining noodles and remaining soup mixture. Sprinkle with the cheese. Cover the baking dish.
Bake for 30 minutes or until the lasagna is hot. Uncover the baking dish.
Heat the broiler. Broil 4 inches from the heat for 2 minutes or until the cheese is golden brown. Let stand for 10 minutes.