Cook rotini and carrots in boiling water for 8 to 10 minutes or until of desired doneness, adding asparagus during last minute of cooking time. Drain.
Meanwhile, in small bowl, combine milk, flour, bouillon and pepper; blend well. Set aside.
Spray large nonstick skillet with nonstick cooking spray. Heat over medium-high heat until hot. Add chicken; cook and stir 4 to 6 minutes or until chicken is lightly browned and no longer pink.
Add milk mixture to skillet; cook and stir 2 to 3 minutes or until bubbly and thickened. Stir in Parmesan cheese; cook over medium-low heat until cheese is melted, stirring constantly.
Add cooked rotini and vegetables to chicken mixture; toss gently.