Cook pasta according to the package directions, omitting salt and fat.
Place milk and pecans in a blender or food processor; process until smooth. Set aside.
Heat oil in a large nonstick skillet over medium-high heat. Add mushrooms, shallots, and garlic; sauté 3 minutes or until golden. Stir in pecan mixture and salt; bring to a boil. Reduce heat, and simmer 5 minutes or until slightly thickened.
Remove from heat. Add pasta; toss gently to combine. Sprinkle with parsley, and serve immediately.