Preheat oven to 425. Mix together baking mix and milk. Gently press a thin layer of baking mix into an 8-inch cast iron pan. Bake 8 to 12 minutes until crust is set and golden brown. Check about halfway through and remove excess dough if necessary to thoroughly bake.
While crust bakes, prepare filling. Cook beef and seasoning in a medium-sized skillet over medium heat until thoroughly cooked. Add meat to baked crust. Top with cheese. Return to oven for about 5 minutes until thoroughly heated and cheese melts.
Prepare pico. Add all pico ingredients together in a small bowl. Stir and allow to set to blend flavors. Top cooked taco pie with pico and garnish with sour cream, zest, hot sauce, chipotle peppers if desired.