Heat the olive oil in a large skillet over medium-high heat. Add the sausage and onion and cook until browned and softened, about 3-5 minutes. Add in the Green Giant Vegetables, chicken broth and milk, then stir in the penne.
Cover and cook until the pasta is al dente, about 15 minutes. Stir and season to taste with salt and pepper. Sprinkle the top with parmesan cheese and parsley.