Preheat your oven to 375°F.
In a skillet over medium heat, cook the ground beef until browned. Drain excess fat and stir in the taco seasoning according to package instructions. Remove from heat and let cool slightly.
Unroll the crescent roll dough and separate it into triangles. Press each triangle into the bottom and up the sides of a greased muffin tin to form a cup.
Spoon a layer of the seasoned ground beef into each crescent cup, followed by a tablespoon of salsa and a sprinkle of cheddar cheese.
Bake in the preheated oven for 12-15 minutes, or until the crescent dough is golden brown and the cheese is melted.
Remove from the oven and let cool for a few minutes. Top each taco cupcake with a dollop of sour cream, chopped green onions, sliced olives, and cilantro if desired.