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Place the cubed chicken and the pesto sauce in a bowl and mix well. Allow to marinate at least 30 minutes.
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Heat the olive oil in the large skillet over medium heat.
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Add the chicken and the garlic and cook until the outside of the chicken turns white.
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Add the chicken broth and the tomatoes with the juice.
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Bring to a boil.
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Stir in the pasta.
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Reduce heat, cover and simmer 17 minutes or until the pasta is cooked.
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Remove the lid and stir in the milk.
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Simmer for 5 more minutes.
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Add salt and pepper to taste.
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Sprinkle the cheese over the top, place the lid back on the skillet and cook until the cheese is melted.