Coat a 4 quart dutch oven with nonstick cooking spray; heat over medium-high heat. Add peppers; coat with cooking spray. Cook, uncovered, 15 minutes or until charred, stirring frequently.
Add onions; cook 5 to 6 minutes more or until soft and golden brown, stirring occasionally. Stir in potatoes and broth. Bring to boiling; reduce heat. Simmer, covered, 12 minutes or until potatoes are very tender.
Coarsely mash soup with potato masher. Add milk and cayenne pepper. Heat through.
Remove from heat; stir in butter and parsley. Season to taste with salt and pepper. Top with bacon and Greek yogurt, if desired.
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