Cook first 3 ingredients in a large skillet coated with vegetable cooking spray over medium-high heat, stirring until beef crumbles and is no longer pink.
Drain and pat with paper towels.
Wipe drippings from skillet with a paper towel.
Return beef mixture to skillet.
Stir in tomato sauce and next 5 ingredients.
Cover and cook over medium-low heat 10 minutes.
Pour mixture into a lightly greased 2-quart baking dish.
Prepare cornbread batter according to package directions using fat-free milk.
Pour batter over beef mixture.
Bake, uncovered, at 400° for 30 minutes or until lightly browned.