Preheat oven to 400°F. Scrub potatoes clean, prick several times with a fork, rub with 1 tablespoon olive oil and salt, then place directly on oven rack. Bake for 45-50 minutes until fork-tender.

While potatoes bake, heat remaining tablespoon of olive oil in a large skillet over medium heat. Add ground beef and cook until browned (8-10 minutes), breaking into small pieces. Drain excess grease if needed.

Add diced onion, carrots, and minced garlic to the skillet. Cook for 5 minutes until vegetables soften.

Stir in tomato paste, Worcestershire sauce, thyme, rosemary, salt, and pepper. Pour in beef broth and simmer for 10 minutes until liquid reduces by half and mixture thickens. Add frozen peas and remove from heat.

Once potatoes are done, carefully slice off the top third of each potato. Scoop out about three-quarters of the fluffy interior into a mixing bowl, leaving a thin layer (about ¼ inch) inside the skin.

Mash the scooped potato with milk, butter, garlic powder, salt, pepper, and shredded cheese until smooth and creamy. Avoid over-mixing.

Spoon the meat filling into each hollowed potato. Top generously with mashed potato mixture.

Place stuffed potatoes on baking sheet and bake at 400°F for 10-15 minutes until tops are lightly golden. Serve warm.