Heat skillet over medium heat then add the pork in the pan. Use a wooden spoon to break the pork up into small crumbles, cook about7-11 minutes, until browned an all sides.
Add taco seasoning with the pork. Stir in 1-2 tablespoons of water if needed, and let it come to a simmer. The mixture will thicken and coat the pork. Season with additional taco seasoning if you desire.
In Microwave safe bowl, combine all of the ingredients but the milk & cheddar cheese, cover and cook on high for 2 minutes.
Stir, cover, and cook for another 1 minute. Repeat process until completely melted.
Stir, add 1-2 tbsp of milk, stir, cover and then cook for another minute.
Add cheddar cheese, stir, cover and cook for another minute or until dip is hot and melty.