Slice jalapeños in half, lengthwise, leaving the stem intact. Scrape out the seeds and membranes.
Toss with 1 tablespoon olive oil and cook over open flame on the grill. You can also place on a baking sheet and roast at 400° until charred.
Turn the jalapeños and cook for about 8- 10 minutes until charred.
Meanwhile, cook finely chopped onions in 2 tablespoons of olive oil. Season with salt and pepper, cooking until caramelized.
Add the ground beef, breaking it up into small chunks, until well browned.
Cut the Velveeta into 2 inch pieces and add to the browned ground beef and onion mixture with the picante sauce, heavy cream, garlic and cumin.
Cook over medium heat, stirring often until cheese is melted and ingredients are well combined.
Remove from heat.
Spoon into roasted jalapeños.
Crush the Doritos in a zip top bag with a rolling pin.
Sprinkle over the jalapeños and garnish with cilantro if desired.
Serve immediately.