Bring a large pot of salted water to a boil, then add the pasta and cook until just al dente, about 8 minutes. Drain and set aside.
While the pasta cooks, peel and devein the shrimp, then pat them dry with paper towels. Season lightly with salt and pepper.
Heat the large sauté pan over medium heat and add the olive oil. Once shimmering, add the shrimp in a single layer and cook for about 2-3 minutes per side, until they turn pink and opaque. Remove from the pan and set aside.
In the same pan, add the butter and minced garlic. Sizzle for about 30 seconds until fragrant and golden, making sure not to burn the garlic.
Pour in the milk and whisk constantly to prevent lumps. Bring the mixture to a gentle simmer over medium heat, stirring until it thickens slightly, about 3 minutes.
Return the cooked shrimp to the pan, stirring to coat them in the sauce. Cook for another 1-2 minutes until heated through.
Add the drained pasta to the pan, tossing gently to coat all strands evenly with the sauce. If it seems thick, add a splash of reserved pasta water to loosen it.
Stir in the grated Parmesan cheese and lemon juice, tasting and adjusting with salt and pepper as needed. The sauce should be silky and cling to the pasta beautifully.
Serve the creamy shrimp pasta immediately, garnished with extra Parmesan or fresh herbs if desired. Enjoy the rich, velvety texture and briny shrimp flavor in every bite!