Bring 4 quarts of water to a boil in a large stockpot and cook the elbow macaroni for about 7-8 minutes, or until al dente. Drain the pasta as set it aside.
In a large skillet, brown the ground beef over medium-high heat while the pasta cooks.
Add the garlic, salt, and pepper to the beef and cook for another 30 seconds to a minute until the garlic is fragrant.
Drain any grease in the skillet. Then add the milk to the skillet. Bring this to a boil and simmer for about 5 minutes.
Reduce the heat and add the cooked macaroni and half of the shredded cheddar cheese a little bit at a time, stirring to combine until you have a cheesy sauce.
Top the mixture with the remaining cheese and cover with a lid Allow the hamburger helper to simmer for another minute or two until the cheese on top has melted and begun to bubble.
Garnish with parsley and serve immediately.
Notes
Store any leftovers in an airtight container in the fridge for 5-7 days.