Brown ground beef, onion, and garlic in a large Dutch oven over medium-high heat, stirring often, 10-12 minutes or until meat crumbles and is no longer pink and onion is softened, drain.
Stir in kidney beans, next 8 ingredients, and 4 cups water. Bring to a boil over medium-high heat. Cover, reduce heat to low and simmer 30 minutes or until thoroughly heated. Stir in cilantro just before serving. Serve with sour cream and cilantro.