The 24-year-old singer also expressed grief over the attack in which a suicide bomber blew himself up when thousands of fans were exiting Grande's pop concert last night.
Miley took to Instagram where she posted a heartfelt message to the "Side to Side" singer, alongside a picture which shows the two singers dressed in cute animal onesies.
"Wishing I could give my friend @arianagrande a great big hug right now... Love love love you... So sorry you had to be a part of such a tragic event!" wrote Miley.
"My most sincere condolences to anyone and everyone affected by this horrific attack! All I can do is send as much hope and peace your way! This must end! No more war... No more innocent lives taken... L-O-V-E @happyhippiefdn," she added.