In a large saucepan, bring water to a boil. Stir in pasta; cook for 7 minutes. Add carrots; cook for 4 minutes. Add peas; cook 1-2 minutes longer or until pasta and vegetables are tender.
Meanwhile, in another saucepan, saute shrimp and garlic in oil until shrimp turn pink. Reduce heat to medium; stir in the milk, broth, lemon juice, salt and pepper.
Drain pasta and vegetables; add to shrimp mixture. Cook and stir for 1-2 minutes or until heated through. Stir in cheese. Transfer to a serving bowl; sprinkle with parsley.
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