Sausage Potato Casserole

Ingredients
1 pound bulk pork sausage
1 can (10-3/4 ounces) condensed cream of mushroom soup, undiluted
3/4 cup whole milk
1/4 cup chopped onion
1/2 teaspoon salt
1/4 teaspoon pepper
3 cups thinly sliced peeled potatoes (about 1-1/4 pounds)
1 cup shredded cheddar cheese
Directions