Heat a large cast iron skillet over your campfire grate or camp stove over medium-high heat. Add the ground beef and break it apart with a wooden spoon. Cook for 6–8 minutes, stirring occasionally, until browned through with no pink remaining. Drain excess fat if needed, leaving about 1 tablespoon in the pan for flavor.
Add the chili powder, cumin, smoked paprika, garlic powder, onion powder, oregano, salt, pepper, and cayenne (if using) directly to the beef. Stir well to coat evenly and cook for 1 minute until fragrant.
Add the tomato paste and stir into the beef mixture, cooking for 1–2 minutes until the paste darkens slightly and coats the meat.
Pour in the beef broth and stir to deglaze the pan, scraping up any browned bits. Add the drained black beans and stir to combine. Reduce heat to low and simmer for 3–5 minutes until the liquid is mostly absorbed and the mixture is saucy but not soupy. Taste and adjust seasoning as needed. Keep warm over very low heat or wrapped in foil near the fire.
While the beef finishes cooking, arrange all your toppings in small bowls or open containers on your camp table: shredded cheese, pico de gallo, avocado, sour cream, shredded lettuce, jalapeño slices, cilantro, pickled onions, and lime wedges.
Using scissors or a sharp knife, cut each Dorito bag open along the long side (not the top) so it opens like a book, creating a wide stable vessel. Alternatively, cut just across the top if you prefer a narrower opening.
Give each bag a gentle squeeze to lightly crush the chips into smaller pieces — this makes eating much easier and ensures chip in every bite.
Spoon a generous portion of the hot seasoned beef and bean mixture directly into each open Dorito bag (about ⅔ to ¾ cup per bag).
Layer on your desired toppings: shredded cheese first so it melts slightly from the beef heat, followed by pico de gallo, avocado, a dollop of sour cream, shredded lettuce, jalapeños, cilantro, and pickled onions.
Squeeze a fresh lime wedge generously over the top. Grab a fork, dig straight into the bag, and eat — no plates required. Enjoy immediately while the beef is hot and the chips are still crispy.
Notes
MAKE-AHEAD TIP: Brown and fully season the beef at home before your camping trip. Store in a sealed container in the cooler for up to 3 days. Reheat in a cast iron skillet over the campfire with a splash of water or broth for 4–5 minutes. CHIP OPTIONS: Nacho Cheese Doritos are the classic choice; Cool Ranch is a close second. Fritos corn chips work beautifully for a more traditional walking taco. For a slightly lighter base, try Baked Tostitos Scoops. VEGETARIAN VERSION: Replace beef with a double portion of black beans plus 1 cup each diced mushrooms and corn, cooked down with all the same spices. Add a second can of beans or pinto beans for extra protein. FOR LARGER GROUPS: Scale up by ¼ lb beef per additional person. Keep meat warm in a foil packet near (not directly on) campfire coals. Set up a self-serve toppings bar for the smoothest group experience. STORAGE: Leftover seasoned beef keeps in the refrigerator for up to 4 days in a sealed container, or freeze for up to 2 months. Do