Bring pot of water to a boil, lightly salted. Cook orzo pasta until cooked through but firm, about 11 minutes. Drain.
In a skillet over medium heat, melt butter and stir in minced garlic, cook for about 5 minutes. Stir in the orzo, cheese, milk, parsley, salt and pepper. Stir until combined and cheese is melted, sauce will thicken as it sits.