Preheat the oven to 350°F (175°C).
In a large skillet over medium-high heat, cook the ground beef and diced onions until the beef is thoroughly browned and onions are translucent. Drain excess grease.
Season the beef mixture with salt and black pepper.
In a large mixing bowl, combine the cooked beef, drained green beans, cream of mushroom soup, and milk. Stir until the ingredients are evenly distributed.
Transfer the mixture into a 9x13 inch baking dish and spread it into an even layer.
Bake for 20 minutes until the casserole is hot and bubbling.
Remove from the oven and sprinkle the crispy fried onions evenly over the top.
Return to the oven and bake for an additional 5 to 10 minutes until the onions are golden brown.