Cook the Pasta: Begin by cooking the penne pasta in salted, boiling water according to package instructions until al dente. For the last 2 minutes of cooking time add the broccoli, asparagus, and petit peas to the boiling water to blanch. Reserve 1/4 cup of pasta water before draining. Set the pasta water aside.

Make the Creamy Sauce: In a large skillet, heat olive oil over medium heat. Add minced garlic and sauté for about 1 minute until fragrant. Lower the heat and pour in the milk. Add the Boursin cheese, stirring continuously until the cheese melts and forms a creamy sauce. Season with salt and black pepper to taste. Add the parmesan cheese and stir until combined.

Combine Pasta and Vegetables: Add the cooked penne pasta, broccoli, asparagus, and peas to the skillet with the creamy vegetable mixture. Toss gently to coat the pasta evenly. If the sauce is too thick, add pasta water about a tablespoon at a time to reach your desired consistency. Turn off the heat.

Add Final Touches: Stir in halved cherry and grape tomatoes, and the torn basil leaves.

Serve and Garnish: Garnish with lemon slices and more parmesan cheese if you would like. Squeeze fresh lemon juice over the pasta just before serving for an extra burst of flavor.