Beef and Cheese Dip

1 lb ground beef
1 onion, finely chopped
2 cloves garlic, minced
1 can (15 oz) black beans, drained and rinsed
1 can (10 oz) diced tomatoes with green chiles, undrained
1 teaspoon chili powder
1/2 teaspoon cumin
Salt and pepper to taste
1 lb Velveeta cheese, cut into cubes
1/2 cup milk
1/4 cup chopped fresh cilantro
1 jalapeño, sliced
Tortilla chips, for serving
Instructions: