Prepare orzo according to the directions on the package.
Add the asparagus tips to the orzo the last 2-minutes of cooking.
Remove from heat and drain.
In the meantime prepare the garlic-butter sauce.
Add butter to a skillet and melt over medium heat.
Stir in garlic and cook for 4 to 5 minutes, or until lightly browned, stirring very frequently. Do not burn the garlic.
Add orzo and asparagus to the skillet; stir in the cheese, milk, parsley, salt and pepper.
Cook for 1 minute, or until heated through.
Remove from heat.
Garnish with parmesan cheese.
Serve.