Preheat the oven to 400F. Grease a 9” pie dish with nonstick baking spray.
Heat a large skillet over medium heat and add the ground beef. Break the ground beef into small pieces as you stir. Cook for 2-3 minutes, or just until the beef begins to brown.
Season with salt and pepper to taste (about ½ teaspoon kosher salt and ¼ teaspoon black pepper).
Add the onion to the pan and cook for an additional 5-7 minutes, or until the ground beef is browned and the onion is soft. Add the garlic, burger seasoning, and rosemary and cook for an additional minute.
Remove the pan from the heat and drain any grease. Pour the beef onion mixture into the bottom of the greased pie dish.
In a small bowl, whisk together the milk, eggs, and bisquick until smooth. Pour the batter over the beef. Top with the shredded cheese.
Bake for 25-28 minutes or until the top is golden brown and the pie is set in the center.