In a large skillet over medium heat, cook beef, soy sauce, and garlic until beef is brown and juices run clear.
While beef is cooking, bring a large pot of lightly salted water to a boil. Add pasta and cook for 8-10 minutes or until al dente; drain.
Return cooked pasta to its pot over low heat; stir in milk and butter.
Stir in beef mixture until well combined.
Stir in cheese until melted.
Serve immediately.