Preheat your oven to 400°F. Line a baking sheet with parchment paper.
In a large skillet over medium heat, cook the ground beef until browned, breaking it apart with a spatula, about 5-7 minutes. Drain excess fat if necessary.
Add garlic powder, onion powder, chili powder, cumin, salt, and black pepper to the beef. Stir well to combine and cook for an additional 2-3 minutes until the spices are fragrant.
Remove the skillet from heat and stir in the shredded cheddar cheese and cilantro (if using) until the cheese is melted and well combined.
Spoon about 2-3 tablespoons of the beef mixture onto the edge of a lettuce leaf. Roll the leaf tightly around the filling, tucking in the sides as you go to form a taquito. Repeat with the remaining filling and lettuce leaves.
Place the rolled taquitos seam-side down on the prepared baking sheet. Bake for 15-20 minutes until the edges are crispy and golden brown.
Serve warm with sour cream and salsa on the side.