Toss chicken with salt and pepper. In a large skillet, heat oil over medium-high heat; saute chicken until no longer pink, 4-6 minutes. Remove from pan; keep warm., Add asparagus to skillet; cook and stir over medium-high heat 1 minute. Add garlic; cook and stir 30 seconds. Stir in tomatoes, milk and 2 tablespoons cheese; cook, covered, over medium heat until cheese begins to melt, 2-3 minutes. Stir in chicken. Serve with rice. If desired, top with additional cheese.