In a large skillet, cook beef over medium heat 6-8 minutes or until no longer pink, breaking into crumbles; drain. Add mushrooms and contents of ramen seasoning packets; cook and stir 3-4 minutes longer or until mushrooms are tender. Add remaining noodles and water. Bring to a boil; cook 3-4 minutes or until noodles are tender, stirring occasionally.
Remove from heat; stir in cilantro and sesame oil. Top with reserved noodles.