Cook bacon in a small nonstick skillet over medium-high heat until crisp; crumble and set aside.
Combine milk and next 5 ingredients (milk through eggs); stir with a whisk until well-blended. Combine the bacon, tomato, onion, and rosemary. Arrange half of the bread slices in a single layer in a 13 x 9-inch baking dish coated with cooking spray. Spoon half of tomato mixture evenly over bread slices. Pour half of milk mixture over tomato mixture. Repeat procedure with remaining bread, tomato mixture, and milk mixture. Sprinkle with paprika and cheese. Cover; chill 8 hours or overnight.
Preheat oven to 350°.
Uncover; bake at 350° for 45 minutes or until set. Garnish with rosemary sprigs, if desired.