Bring a large pot of salted water to a boil over high heat, add the rigatoni and cook until 1 minute less than the package time; drain and reserve.
Heat a large skillet or saucepan over medium heat and add the olive oil.
Add the finely chopped garlic and sauté until fragrant and lightly golden, about 1 minute.
Stir in the diced canned tomatoes, heavy cream, and whole milk; simmer gently for 2–3 minutes, stirring occasionally.
Add the peeled shrimp and peas, season with salt and pepper, then cook for about 10 minutes until the shrimp are cooked through and the peas are tender.
Add the drained rigatoni to the sauce, stir and cook for 1–2 minutes more until the sauce thickens and coats the pasta.
Serve immediately.