Prep all ingredients per the instructions above.
In a bowl, mix the ingredients for the pico (except the chips). Season with salt and pepper to taste. Refrigerate until ready to use.
Cook the beef: In a skillet over medium-high heat, add vegetable oil. Once the oil is hot, add the ground beef and cook, breaking it up into smaller pieces until the meat is browned and no longer pink.
Season the Beef: Add the chili powder, cumin, garlic, salt and pepper and combine until meat is evenly coated.
Warm the Tortillas: In the same skillet, warm the soft corn tortillas for about 20 - 30 seconds on each side until they become pliable and slightly toasted.
Assemble the Tacos: Divide the cooked beef among the warm tortillas. Top each taco with chopped fresh cilantro, diced onion, diced tomatoes, and cheese.
Mix the ingredients for the lemonade. Serve over ice if desired.
Serve: Arrange the Mexican street tacos on a serving platter. Serve the chips and pico on the side with cold lemonade.