Preheat your oven to 400°F (200°C). Scrub the potatoes, pat dry, prick with a fork, rub with olive oil and sprinkle with salt. Bake for 45-50 minutes until fork-tender.
In a large skillet over medium heat, warm olive oil and add ground beef or lamb. Cook until browned, breaking apart as it cooks. Drain excess grease.
Stir in diced onion, carrots, and minced garlic. Cook for about five minutes until softened.
Add tomato paste, Worcestershire sauce, dried thyme, dried rosemary, salt, and black pepper. Pour in beef broth and simmer for about ten minutes until thickened.
Stir in frozen peas and mix well. Remove from heat.
Slice off the top third of each baked potato and scoop out most of the insides into a mixing bowl, leaving a thin layer inside.
Add milk, butter, garlic powder, salt, and black pepper to the scooped potato flesh. Mash until smooth. Optionally fold in shredded cheddar cheese.