Saute for 2 minutes, stirring occasionally. Stir in the asparagus and mushrooms, and continue sauteing for another 4-6 minutes, stirring occasionally, until the mushrooms have softened. Stir in the garlic and cook for an additional 1-2 minutes, or until fragrant, stirring occasionally. Remove pan from heat and set aside. In a separate small mixing bowl, add the goat cheese, milk, 1/4 cup Parmesan and 1/2 cup of the reserved hot pasta water.