Heat the oil in a heavy deep skillet or Dutch oven and brown the ground beef. Add the onions and garlic and cook until soft and translucent, 5-7 minutes. Add all the seasonings and masa harina and stir to combine. Cook for one minute. Add all remaining ingredients and stir to combine. Bring to a boil, reduce the heat to medium-low, cover and simmer for 30-40 minutes. Add the cilantro and stir to combine. Add salt to taste.
Serve with shredded cheddar cheese, sour cream, some chopped fresh cilantro, avocado, and/or tortilla chips as desired.