Make a panade. Pour the milk over 2 slices of hearty white bread (or use leftover buns, etc.). Let it sit for a few minutes then mash with a fork until relatively smooth. Mix in the salt and pepper. Add the beef and combine with your hands.
Sauté the vegetables and spices. In your pressure cooker on the sauté setting (or in a large Dutch oven on the stovetop), heat 3 tablespoons of vegetable oil over medium heat. Add the diced onion and cook for about 3 minutes until softened. Then, add the chili powder, cumin, oregano, crushed red pepper flakes, and cayenne pepper (if using). Stir for another 2 minutes, allowing the spices to bloom. Add the minced garlic and cook for another 1 minute until fragrant.
Brown the beef. Add the ground beef/ milk mixture, breaking it up with a spatula as it cooks until fully browned. Remove from the pressure cooker and set aside.
Combine and deglaze. Pour in half of the crushed tomatoes and use a spatula to scrape up any browned bits from the bottom of the pot (this adds flavor). Stir in the remaining crushed tomatoes, rinsed beans, soy sauce, brown sugar, and beer (or beef broth).
Pressure cook. Secure the lid of the pressure cooker and set it to high pressure for 15 minutes. Once the time is up, manually release the pressure following your cooker’s instructions.
Check the seasoning and serve. Open the lid carefully and stir the chili. Taste and adjust seasoning if needed, adding more salt or pepper to taste. If desired, ladle the chili into bowls and top with sour cream, shredded cheese, and crushed tortilla chips.