Preheat the oven to 350°F (175°C) and spray a regular muffin pan with nonstick cooking spray.
In a 12-inch nonstick skillet over medium-high heat, cook 1 lb lean ground beef until no longer pink, breaking it into crumbles as it cooks.
Drain any excess grease, then return the skillet to low heat and stir in 1 package (1 oz) taco seasoning, 1/2 cup salsa, and 3 tbsp water.
Simmer the mixture over low heat, stirring occasionally, until the sauce thickens, about 10 minutes. Season with salt and black pepper to taste.
Remove the skillet from heat and stir in 1/2 cup of the shredded cheddar cheese; set the meat mixture aside.
Separate the 10 refrigerated biscuits and use a rolling pin to roll each into a larger circle. Press each rolled biscuit firmly into the bottom and up the sides of the prepared muffin cups to form cups.
Spoon the beef mixture into each biscuit cup, dividing it evenly among the 10 cups.
Top each filled biscuit cup with the remaining 1/2 cup shredded cheddar cheese.
Bake in the preheated oven for 17 to 20 minutes, until the biscuits are golden brown.
Remove from the oven and sprinkle with cilantro if desired, then serve warm.