The DateAdd function is what you are looking for.
Use millisecond as the first parameter to the function, to tell it that you are adding milliseconds. Then use 1 as the second parameter, for the number of milliseconds to add.
Here is an example, grabbing the current time into a variable, and then adding one millisecond to it and saving the result as a second variable, and then printing each variable
Declare @RightNow as DateTime2
Declare @RightNowPlusAMillisecond as DateTime2
Select @RightNow = Getdate()
Select @RightNowPlusAMillisecond = DateAdd(millisecond,1,@RightNow)
Print @RightNow
Print @RightNowPlusAMillisecond
Results:
2019-07-23 08:25:38.3500000
2019-07-23 08:25:38.3510000
Note:
As Forrest points out in another answeranother answer, the datetime data type does not guarantee millisecond precision. It rounds to increments of .000, .003, or .007 seconds. If you want millisecond precision, use datetime2.