Easy turkey bolognese with rigatoni

Ingredients

• 3 tablespoons olive oil
• 2 pounds ground turkey
• 1 onion, chopped
• 4 cloves garlic, minced
• 2 teaspoons dried Italian herbs to taste
• 1 teaspoon salt, or to taste
• fresh ground black pepper to taste
• 1/2 cup milk
• 1 28-oz jar marinara sauce
• 2 cups water, more as needed
• 1 bunch fresh Italian parsley