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Saute the garlic: Heat the olive oil in a large skillet over medium-high heat. Add garlic and cook until fragrant, about 30 seconds to 1 minute.
Add pasta and broth: Stir in the chicken broth, milk and penne. Season with salt and pepper.
Cook the pasta: Bring everything to a boil then turn the heat down to a simmer and cook for 18 to 20 minutes, stirring occasionally, or until the pasta is cooked through.
Stir in the Parmesan cheese.
Garnish with parsley and serve.