Cook penne as directed on package. Drain; cover to keep warm.
Meanwhile, heat 12-inch nonstick skillet or Dutch oven over medium-high heat until hot. Add bell pepper, onion and sugar snap peas; cook 4 to 5 minutes or until vegetables are crisp-tender, stirring frequently. Drain, if necessary.
Reduce heat to medium. Add kielbasa, milk and cheese to vegetables. Cook over medium heat for 3 to 4 minutes or until cheese is melted and sauce is smooth, stirring constantly.
Add cooked penne; stir gently to coat. Cook 1 to 2 minutes or until thoroughly heated, stirring occasionally.