Bring a large pot of salted water to a boil. Add the elbow macaroni and cook according to package instructions until al dente, about 8-10 minutes.
While the pasta cooks, heat olive oil in a medium saucepan over medium heat.
Add the minced garlic and sauté for 1 minute until fragrant, being careful not to burn it.
Pour in the crushed tomatoes, then stir in sugar, salt, black pepper, dried basil, and dried oregano.
Simmer the tomato sauce for 8-10 minutes, stirring occasionally, until slightly thickened.
Drain the cooked pasta and return it to the pot over low heat.
Add the tomato sauce, shredded cheddar cheese, shredded mozzarella cheese, grated Parmesan cheese, and whole milk to the pasta.
Stir gently until the cheeses melt and the pasta is evenly coated with a creamy tomato sauce.
Remove from heat and let it sit for 2 minutes to thicken slightly.
Serve warm, garnished with fresh basil leaves if desired.