Spray 6- to 7-quart slow cooker with cooking spray. In 10-inch skillet, cook bacon until crisp; drain on paper towels. Discard drippings.
Place bacon in slow cooker. Add remaining ingredients except milk; stir to combine.
Cover; cook on Low heat setting 4 hours or until potatoes are tender. Stir in milk. Cover; cook about 30 minutes longer or until hot. Season to taste with salt and pepper.