Creating Baked Beef Tacos is simple. Follow these steps for a delicious outcome:

1. Preheat your oven to 375°F (190°C).
2. Cook the Beef: In a large skillet, heat a drizzle of olive oil over medium heat. Add the ground beef and cook until browned, about 5-7 minutes.
3. Add Taco Seasoning: Stir in the taco seasoning and follow the package instructions, adding water as needed. Cook for an additional 2-3 minutes until well combined.
4. Prepare Taco Shells: Arrange the taco shells in a baking dish, standing them upright.
5. Fill the Shells: Spoon the cooked beef mixture evenly into each taco shell, filling them generously.
6. Add Cheese: Top each filled taco with shredded cheddar cheese.
7. Bake: Place the baking dish in the preheated oven and bake for 15-20 minutes until the cheese is melted and bubbly.
8. Prepare Toppings: While the tacos are baking, chop the tomatoes, lettuce, and avocado.
9. Serve: Once baked, remove the tacos from the oven and let them cool slightly before serving. Top with diced tomatoes, shredded lettuce, sour cream, avocado slices, and cilantro if desired.