Preheat the oven to 375 degrees and line a baking sheet with parchment paper.
In a mixing bowl, combine the ground beef, taco seasoning, breadcrumbs, egg, and milk until the mixture holds together.
Divide the mixture into 8 equal portions. Flatten each portion slightly, place one queso blanco cube in the center, and shape the meat around the cheese to seal it completely.
Arrange the formed mini meatloaves on the prepared baking sheet.
Bake for 25 minutes until the meat reaches an internal temperature of 160 degrees and the cheese has softened inside.
Remove from the oven and let them rest for 5 minutes before serving with chopped cilantro on top.