Preheat oven to 375 degrees.

Pierce potatoes with fork and rub with canola oil.

Sprinkle with salt and pepper.

Bake until soft, about 45 minutes.

While the potatoes are baking, make the filling.

Brown ground beef in a large, non-stick skillet.

Once the beef is browned, drain fat and add carrots, onion, garlic, rosemary and salt.

Cook for 7-8 minutes until veggies soften.

Add tomato paste, cook another minute.

Add Worcestershire sauce, beef stock and sugar.

Cook until stock has reduced, about 3-4 minutes.

Add frozen peas.

Cook one minute until defrosted.

Set aside.

Once potatoes have cooked, remove from oven and increase heat to a broil.

Cut the potato lenth-wise on top, but do not cut all the way through.

Using a spoon remove potatoes, leaving just a line of potato to hold the skin up.

Place insides in a bowl and mash with a potato masher until smooth.

Add half and half, sour cream, butter, egg yolk and remaining salt to potatoes.

Mash until smooth.

Season with salt and pepper.

Scoop filling into potato skins.

Transfer potato mixture to a ziplock baggie fit with a large star tip, or just cut the corner off the bag.

Pipe the potatoes on top of the filling.

Pop under the broiler until top of potatoes are golden brown, about five minutes.