Heat large nonstick skillet over medium heat until hot. Add ground beef; cook 8 to 10 minutes, breaking up into 3/4-inch crumbles and stirring occasionally. Remove drippings. Stir in beans, salsa, and water; bring to a boil. Reduce heat; simmer 5 minutes or until slightly thickened, stirring frequently. Stir in cilantro. Serve beef mixture over macaroni.