In a bowl, combine meat, milk, crumbs, garlic, onion & seasonings; shape into 4-5 oblong patties. In a skillet, brown patties in hot oil. Remove to drain on paper towel.
Drain any liquid from skillet & wipe with paper towel. In the skillet, combine soup with water & bring to a simmer. Add meat patties; gently simmer, covered for about 10 minutes then add drained & rinsed kidney beans. Simmer 5 more minutes until beans are hot.
Cook pasta according to package directions; drain. Place on a large warm serving platter. Arrange patties over mostaccioli pasta. Pour sauce over meat & pasta; sprinkle with Parmesan cheese & serve.