Cook pasta according to package directions; drain and rinse in cold water. Drain peaches, reserving 1/4 cup syrup; set peaches aside.
In large bowl, whisk the milk, pudding mix, sugar and reserved syrup for two minutes. Let stand for two minutes or until soft set. Stir in peaches and pasta. Fold in marshmallows and whipped topping. Cover and refrigerate until serving. ENJOY!