Bake potatoes in 350°F oven about 40 minutes. Scoop out flesh, leaving 1/4-inch-thick shells. Mash flesh in bowl; add bacon, butter, salt, pepper and milk. Spoon into shells. Top with shredded cheddar. Bake 5 minutes.
Combine tomatoes, black olives, red onion and chopped parsley in bowl. Serve salsa with baked potatoes.