Bring a pot of salted water to a boil and cook the macaroni to just tender, and drain.

While the pasta is cooking, heat a large skillet over medium high heat and the garlic and beef, brown the beef, breaking up the meat as you cook. Season with salt and pepper to taste, then drain excess fat. Add tomatoes and milk, then bring to a boil and reduce to a simmer for 5 minutes.

Mix in the pasta and add a handful of Cheddar and stir to combine then add more cheese, one handful at a time and stir to mix while adding. Sprinkle remaining cheese over the top and cover with lid. Simmer until cheese is melted and bubbling, about 1 minute.

Sprinkle the top with the parsley and serve.