Preheat the oven to 375°F (190°C) and place the oven rack in the middle position.
Heat a skillet over medium-high. Add the ground beef and break it up with a spoon or spatula.
When the beef begins to brown, sprinkle in the garlic powder, onion powder, smoked paprika, ground cumin, and chili powder. Stir to combine.
Cook the beef, stirring occasionally, for about 8–10 minutes until fully cooked and browned.
Spoon out any excess fat from the skillet, then taste and season with salt and black pepper as desired.
Arrange the 10 hard taco shells in a 9×13 baking dish and evenly fill each shell with the seasoned ground beef.
Sprinkle about 1 cup shredded cheese evenly over the filled tacos.
Bake in the preheated oven for 10–15 minutes, until the cheese is melted and the shells are warmed through.
Remove from the oven, top with desired toppings (salsa, sour cream, avocado, red onions, lettuce), and serve.