Bring a large pot of water to a boil. Add about 1/4 tsp salt. Add cauliflower and cook for 10 minutes, until tender.
In the mean time, heat oil in a small skillet. Add garlic and cook on medium heat for 1-2 minutes, stirring frequently. Cook until golden, but don't burn. Remove from heat and transfer to a small bowl.
When the cauliflower is cooked and tender, drain, reserving about 1 cup of the liquid. Place in a blender.
Add garlic, salt, pepper and milk. Blend until smooth. Check the consistency and if it appears too thick, add some from the reserved liquid, to make it thinner.
While you are boiling the cauliflower, start cooking the Barilla Gluten Free Penne Pasta, according to the directions on the box.
Pour about 2/3 of the sauce over the pasta. Add the cooked peas and grape tomatoes. Top with cheese. Add more sauce, according to your taste. Top with some ground black pepper and basil. Serve.