Heat the olive oil in a 12 inch lidded pan or skillet over medium-high heat.
Add the garlic and sauté 30 seconds then add in the broth and water and stir together.
Season with salt and pepper to taste and bring to a boil. Add in the pasta and stir.
Cover the pan with a lid and boil until fairly tender, stirring occasionally, about 8 - 9 minutes.
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.
Add in the goat cheese, parmesan cheese, lemon zest and lemon juice, stirring until melted and creamy.
Stir in the frozen peas then remove from heat, cover and let rest a few minutes allowing the sauce to thicken slightly.
Serve warm.