Cook pasta according to package instructions. Drain and rinse with cold water.
Place a medium-size saucepan over medium heat. Add butter. Once butter is melted, add the garlic and sauté, stirring, for one minute.
Add the yogurt, milk, cheddar cheese, 1 cup of parmesan cheese, mozzarella cheese, and salt and pepper. Stir until combined and cheese begins to melt. Gently fold in pasta noodles and stir until incorporated.
Pour cheesy pasta into an un-greased casserole dish. Sprinkle remaining ½ cup of parmesan cheese and breadcrumbs (if desired) over the top. Bake at 350 degrees F for 20-30 minutes.