Spray a 13×9 baking dish with cooking spray and preheat oven to 350 degrees.
Add ground beef and onion to a large skillet, season with salt and pepper then cook until ground beef is cooked though and crumbled. Drain fat then set aside.
Cut potatoes into thin slices less than 1/4 inch. Add one layer of potato slices to the bottom of the baking dish. Sprinkle potatoes with salt and pepper.
Top potatoes with 1/4 of beef mixture. Top beef with 1/4 of shredded cheese. Repeat this process three more times.
Combine condensed cheddar soup, evaporated milk, milk, salt and pepper then whisk until smooth. Pour mixture over potato/beef/cheese layers.
Cover dish tightly with aluminum foil then bake at 350 degrees for one hour. Remove foil then continue baking for an additional 15-20 minutes or until potatoes are tender and dish is light golden brown and bubbly
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