Boil the spaghetti noodles in boiling water.
Drain the boiled noodles using a strainer.
Heat olive oil in a pan and sauté minced garlic.
Add peanut butter, soy sauce, and milk to make the sauce.
Add the noodles to the pan and stir-fry with the sauce.
Season with salt and pepper.
Serve on a plate and finish with chopped peanuts and parsley.