Bake your potatoes in a 200 degrees C oven for about an hour or till done. While cooking prepare the asparagus and bacon.
When the potatoes are ready take them out of the oven and either slice a bit off the top or cut an x to open it up. Mash the inside a little and scoop out a generous amount placing it in a mixing bowl.
Add to the potato the milk, sour cream, salt, pepper, asparagus, 1/2 the cheddar and the bacon. Stir until just combined then spoon it back into the potato shells.
Sprinkle the rest of the cheese on top of the potatoes then return to the oven for a few minutes until the cheese is all melted and bubbly. Serve.