Preheat your oven to 350°F (175°C). Lightly grease a 9×13-inch glass baking dish or spray it with nonstick cooking spray to help with cleanup.
In a medium bowl, combine the ground beef and dry onion soup mix. Use clean hands to gently mix until the seasoning is evenly distributed, but do not overwork the meat so the patties stay tender.
Divide the seasoned beef mixture into 6 to 8 equal portions, depending on how big you like your patties. Shape each portion into a flat oval or round patty about 1/2 to 3/4 inch thick.
Hand-shaped raw beef patties on a tray
Arrange the raw ground beef patties in a single layer in the prepared glass baking dish, leaving just a little space between each one so the sauce can flow around them.
In a separate bowl, whisk together the cream of mushroom soup and the milk until smooth and pourable. It should be the consistency of a loose gravy.
Creamy mushroom sauce being whisked in a bowl
Holding the bowl over the glass baking dish, pour the cream of mushroom soup mixture evenly over the raw ground beef patties, making sure each patty is well coated and some sauce covers the bottom of the dish.
Cover the glass baking dish tightly with aluminum foil to keep the steam and moisture in while baking, which helps the patties cook through gently and stay tender.
Foil-covered baking dish ready for the oven
Bake in the preheated oven for 35 to 40 minutes, or until the patties are cooked through and no longer pink in the center (an instant-read thermometer should read 160°F/71°C in the thickest part).
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