Heat oil in a Dutch oven over medium-high heat. Add onion and garlic, and sauté 5 minutes or until soft. Add tomatoes and tomato paste; bring to a boil, reduce heat, and simmer, uncovered, 20 minutes or until mixture thickens.
Carefully place tomato mixture in a blender or food processor; process until smooth. Return mixture to pan; stir in milk and next 4 ingredients. Cook over medium heat 2 to 3 minutes or until thoroughly heated.
Meanwhile, place baguette slices on a baking sheet; broil 1 to 2 minutes or until lightly browned. Spread goat cheese on warm bread.
Ladle soup into bowls; garnish with basil leaves, if desired. Serve with toast.