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Preheat your oven to 375°F (190°C). Lightly grease a 9×13-inch glass casserole dish with a little butter or cooking spray so the beef and biscuits don’t stick.
In a large bowl, gently mix the ground beef with the salt and black pepper. Don’t overwork the meat; just fold the seasoning through until it’s evenly distributed.
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Divide the seasoned ground beef into 6 equal portions. Using your hands, press each portion into a flat, even square patty, roughly 3 to 3 1/2 inches across and about 1/2 inch thick. The exact size isn’t fussy, but try to keep them similar so they cook evenly.
Arrange the raw square ground beef patties in a single layer on the bottom of the glass casserole dish. Leave just a little space between each patty so the juices can move around as they bake.
In a separate bowl, whisk together the condensed cream of mushroom soup and the milk until it’s smooth and pourable. This makes a simple, rich gravy that will soak into the beef and help keep everything moist.
Pour the soup and milk mixture evenly over the raw beef patties in the casserole dish, making sure each patty is well coated and the sauce runs down in between them.
Open the can of refrigerated biscuit dough. Separate the biscuits and, using your hands, tear each biscuit into 3 or 4 smaller pieces. You’re aiming for chunky, rustic pieces rather than perfect shapes.
Starting at one corner of the dish, place the raw biscuit dough pieces directly over the raw square ground beef patties and gravy, tucking pieces here and there so the patties are mostly covered. It’s fine if a little gravy peeks through between the biscuit pieces; that gives you nice browned edges.
Place the casserole dish on the middle rack of the preheated oven. Bake, uncovered, for 30 minutes.
After 30 minutes, check the biscuits. If they are browning too quickly, lay a piece of foil loosely over the top to prevent over-browning. Continue baking for another 10–15 minutes, or until the biscuits are deep golden on top and a meat thermometer inserted into the center of a beef patty reads at least 160°F (71°C).
Once fully baked, remove the casserole from the oven and let it rest on the counter for 5–10 minutes. This helps the gravy settle a bit so it’s easier to scoop without falling apart.
Spoon the casserole into shallow bowls or onto plates, making sure each serving gets a good mix of biscuit, beef, and gravy. Serve warm.
Variations & Tips
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