Preheat oven to 425°F. In 10-inch skillet, cook beef over medium-high heat 5 to 7 minutes, stirring occasionally, until thoroughly cooked; drain. Stir baked beans and barbecue sauce into beef. Heat to boiling, stirring occasionally. Pour into ungreased 2-quart casserole.
Meanwhile, in medium bowl, stir Bisquick mix, milk and butter until soft dough forms. Drop dough by 12 spoonfuls onto beef mixture.
Bake uncovered 18 to 22 minutes or until topping is golden brown. Sprinkle with cheese. Bake about 3 minutes longer or until cheese is melted.