Heat the oven to 375°F and combine the chicken, frozen peas and carrots, condensed soup, milk, salt and black pepper in a 9-by-13-inch baking dish.
Bake uncovered for 12 to 15 minutes, until the filling begins bubbling around the edges.
Remove the dish from the oven and stir the hot filling from the center outward.
Set the biscuits across the filling with at least 1 inch between them.
Bake for 20 to 25 minutes more, until the biscuits are deeply browned, their centers are cooked and the filling reaches 165°F.
Rest the bake for 5 minutes before serving one biscuit with each scoop of chicken filling.