In a skillet (I use cast iron, it easily goes into the oven to toast the bread crumbs)

Place oil and brussels sprouts in a skillet over high heat, brown the brussels sprouts, then stir to brown the other side of them.

Add in garlic and stir to coat garlic all over brussels sprouts.

Turn temperature to low.

Add in milk, then add in cheese and stir, cook for 2 minutes.

Turn oven broiler to high.

Add bread crumbs top of Brussels sprouts.

Place skillet in the oven under a high broiler for 1-2 minutes until everything is toasted and golden brown.

Add salt and pepper to taste and serve.