Cook beef and onion in 10-inch skillet over medium-high heat until well browned, stirring to break up meat. Pour off fat.
Stir soup, ketchup, black pepper and peas and carrots into skillet. Spoon beef mixture in 9-inch pie plate.
Heat milk and butter in 2-quart saucepan over medium-high heat to a boil. Remove from heat. Slowly stir in potatoes. Spoon potatoes over beef mixture.
Bake at 400 degrees F for 15 minutes or until potatoes are lightly browned.
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