First, cook the bacon in a large frying pan over medium-high heat. Drain on paper towels and set aside.
Next, prepare the pico de gallo topping. Add diced tomato, onion, jalapeno, lime juice, and salt to a small bowl. Stir to combine and set aside.
Preheat oven to 350 degrees F. Wrap the tortillas between two sheets of aluminum foil, rolling in the edges tight to create a sealed foil packet. Warm them in the oven for 8 to 10 minutes.
Next, prepare the scrambled eggs. Whisk together eggs and milk in a medium bowl, then pour into a lightly greased frying pan and cook over medium-low heat. Let them sit untouched until the bottom begins to solidify, about 4 to 5 minutes, before scrambling (this helps them stay fluffy). Gently scramble and cook through, another 3 to 4 minutes or so, then lower heat and stir in the shredded cheddar cheese until it melts. Remove from heat.
Slice the avocado into strips.
Finally, assemble the breakfast tacos. Spoon equal amounts of scrambled eggs into a line down the center of each tortilla. Then, break up the bacon into small pieces and sprinkle on top of the eggs. Finally, top with sliced avocado, then a spoonful of pico de gallo.
Serve tacos immediately with lime wedges and optional toppings such as hot sauce or crema. Enjoy!