Bring a large pot of salted water to a boil and cook the pasta according to package directions. Drain and set aside.
In a large skillet, brown the ground beef over medium heat until fully cooked. Drain excess grease if needed.
Add the taco seasoning and Rotel to the beef. Stir and simmer for 5 minutes.
Reduce the heat to low, then add the cream cheese and stir until melted and combined.
Pour in the milk, followed by cheddar and mozzarella cheese. Stir until everything is smooth and creamy.
Add the cooked pasta to the skillet and stir to coat evenly with the cheesy taco mixture.
Taste and season with salt and pepper as needed. Garnish with chopped parsley or cilantro if desired.
Serve hot and enjoy!