Preheat your oven to 375°F (190°C) for even baking and golden biscuit cups.
In a large skillet over medium heat, cook the lean ground beef until browned, breaking it apart as it cooks. Drain any excess fat if needed.
Sprinkle in the taco seasoning, then add salsa and water. Stir to combine and simmer for about 5 minutes until heated through and slightly thickened.
While the beef mixture simmers, open the cans of refrigerated biscuits. Separate and flatten each biscuit slightly with your fingers.
Lightly grease your muffin tin. Place each biscuit into a muffin cup, pressing against the bottom and sides to form a cup shape.
Spoon the taco beef mixture into each biscuit cup, filling generously but not overflowing. Top with a sprinkling of shredded cheddar cheese.
Bake in the preheated oven for 12-15 minutes until biscuits are golden brown and cheese is melted and bubbly.
Remove from oven, let cool a few minutes, then carefully remove the cups from the muffin tin. Serve warm with favorite toppings like sour cream, avocado, or extra salsa.