Cook pasta according to package directions. Drain in a colander over a bowl, reserving 1/2 cup hot cooking liquid.
While pasta cooks, cook bacon in a large nonstick skillet over medium heat until crisp. Remove bacon from pan, reserving 1 tablespoon drippings in pan. Discard remaining drippings; set bacon aside. Add garlic to drippings in pan; cook 30 seconds, stirring constantly.
Combine milk, salt, pepper, and eggs, stirring with a whisk. Gradually add reserved hot cooking liquid to milk mixture, stirring constantly with a whisk. Add pasta, milk mixture, and peas to skillet; cook over low heat 3 minutes or until sauce thickens. Add bacon and cheese; stir to combine.