Preheat the oven to 350°F (175°C) and grease a 9x13-inch baking dish.

In a large mixing bowl, mix ground beef, breadcrumbs, garlic powder, onion powder, salt, and pepper until combined.

Press the meat mixture into the bottom of the prepared baking dish and spread evenly.

Cook the medium pasta shells according to package instructions until al dente, then combine with cheddar cheese, condensed tomato soup, and milk.

Layer the cheesy shell mixture over the meatloaf layer in the baking dish.

Cover with aluminum foil and bake for 30 minutes, then remove the foil and bake for an additional 10-15 minutes.

Let the casserole rest for about 10 minutes before serving.