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Heat the olive oil in a 12 inch lidded pan or skillet over medium-high heat.
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Add the garlic and sauté 30 seconds then add in the broth and water and stir together.
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Season with salt and pepper to taste and bring to a boil. Add in the pasta and stir.
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Cover the pan with a lid and boil until fairly tender, stirring occasionally, about 8 - 9 minutes.
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Add the asparagus and chickpeas over top without stirring then cover with the lid and allow to boil 4 - 5 minutes longer until asparagus and pasta are tender. There should be a little broth/water left after it's finished cooking, this will become part of the sauce. If needed, add more broth.
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Add in the goat cheese, parmesan cheese, lemon zest and lemon juice, stirring until melted and creamy.
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Stir in the frozen peas then remove from heat, cover and let rest a few minutes allowing the sauce to thicken slightly.
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Serve warm.