Bring a large pot of lightly salted water to a boil. Cook orzo in the boiling water, stirring occasionally until cooked through but firm to the bite, about 11 minutes. Drain.
Melt butter in a skillet over medium heat; cook and stir garlic in melted butter until lightly browned, about 5 minutes. Stir orzo into garlic mixture and mix in Parmesan cheese, milk, parsley, salt, and black pepper.