Heat a large skillet over medium heat. Add the ground beef and cook until browned, breaking it up with a spoon as it cooks.
Add the diced onion and minced garlic to the skillet. Cook for 3 to 4 minutes until the onion softens.
Stir in the taco seasoning and cook for 1 minute to toast the spices.
Add the uncooked rice, beef broth, and diced tomatoes with their liquid. Stir to combine and bring the mixture to a gentle boil.
Reduce the heat to low, cover the skillet, and simmer for 18 to 20 minutes until the rice is tender and most of the liquid is absorbed.
Remove the skillet from the heat. Stir in the shredded cheddar cheese until it melts evenly into the rice mixture. Season with salt and pepper to taste.
Serve hot, topped with chopped cilantro and sliced green onions.