Make dressing by blending all ingredients in the blender. Add milk until it's the consistency you want. Refrigerate until ready to serve.
Pour all rice ingredients into a large pan and bring to a boil. Add lid and simmer for 20 minutes (stirring occasionally), until rice is cooked.
Cook beef in a large skillet over medium heat until no longer pink making sure to break up the meat. Add water and taco seasoning to the skillet and bring to a boil. Reduce heat and simmer for about 5 minutes.
Assemble bowls by dividing the rice mixture evenly along with the meat, lettuce, corn, black beans, tomatoes, avocado and cilantro.