Dressing: In a large bowl, whisk together milk, garlic, honey, mustard, salt, thyme and rosemary. Gradually whisk in lemon juice. Let stand for 10 min or until slightly thickened. Whisk in yogurt.
Salad: Meanwhile, in large pot of boiling salted water, cook pasta for about 8 min or until tender but firm; drain. Rinse under cold running water until cool; drain well. Add to dressing in bowl with chicken, grapes, celery, onion and cheese and stir gently to coat. Season with salt and pepper. Sprinkle with nuts .