Prepare vegetables according to package directions. In large skillet, heat oil over medium heat.
Add onions and garlic; sauté 3 minutes. Stir in cooked vegetables, soup and milk. Transfer to a greased 2-quart baking dish.
Combine bread crumbs and butter; sprinkle over vegetables. Bake in a preheated 375°F oven 30 minutes or until bubbly and golden brown.