Heat oven to 350°F. Mist 12 muffin cups with cooking spray. Cook turkey bacon as specified on the package. Cut into ½-inch pieces and set aside.
In large skillet over medium-high heat, add oil, red and green pepper, mushrooms and asparagus. Cook 5 minutes, stirring occasionally, until vegetables are cooked.
In large bowl, whisk eggs, milk and parsley until well mixed. Stir in bacon, cheese, mushroom mixture and green onions. Spoon mixture into muffin cups, filling approximately ¾ full. Bake 20 minutes or until set.