Preheat oven to 350°F (175°C). Grease a 9×13-inch baking dish.
Brown ground beef in a large skillet over medium-high heat. Add chopped onion and garlic; cook until onion is translucent.
Stir in tomato soup, cream of mushroom soup, and milk. Season with salt and pepper. Add frozen peas if desired. (Use heavy cream for a richer sauce.)
Cook egg noodles according to package instructions, drain, and set aside. Mix cooked noodles into the beef and sauce mixture.
Layer half of the mixture in the baking dish, top with half the cheese, then add the remaining mixture and cheese.
Cover with foil and bake for 25 minutes. Remove foil and bake for an additional 10 minutes until cheese is golden and bubbly.