Preheat your oven to 350°F. Lightly spray an 8-inch square baking dish with nonstick cooking spray to prevent sticking.
In the prepared baking dish, combine the whole milk, uncooked pasta, Worcestershire sauce, salt, black pepper, and 1 1/2 cups of shredded cheddar cheese. Stir gently to evenly distribute the ingredients.
Cover the baking dish with aluminum foil and bake in the preheated oven for 50 minutes, allowing the pasta to absorb the liquid and soften. After baking, carefully remove the foil and stir the mixture to redistribute the cheese and pasta.
Sprinkle the remaining 1 cup of shredded cheddar cheese evenly on top of the pasta. Return the dish to the oven, uncovered, and bake for an additional 10 minutes, or until the cheese is melted and bubbly. I like to use sharp cheddar for a richer, more pronounced cheese flavor.
Remove the mac and cheese from the oven and let it stand for 10 minutes before serving. This will help the dish set and make it easier to serve.