Preheat the oven to 375°F (190°C). Arrange the hard taco shells standing upright in a 9x13-inch baking dish.

In a large skillet over medium-high heat, cook the ground beef until completely browned, about 5 to 7 minutes. Drain any excess fat.

Stir the taco seasoning and water into the browned beef. Bring the mixture to a simmer and cook for 3 to 4 minutes until the liquid reduces and thickens.

Spoon approximately 2 tablespoons of the seasoned ground beef into each taco shell.

Sprinkle the shredded cheese evenly over the ground beef inside each shell.

Bake in the preheated oven for 8 to 10 minutes until the cheese is completely melted and the edges of the taco shells are golden brown.

Remove the baking dish from the oven. Top each taco with shredded lettuce, diced tomatoes, chopped cilantro, and a drizzle of creamy taco sauce. Serve immediately with fresh lime wedges.