Kitchen Sink Frittata

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2 tablespoons olive oil

1/2 cup leftover sauteed sliced onions

4 ounces leftover cooked steak, cut into bite-size pieces

1/4 cup roasted red pepper strips 

3 to 4 stalks leftover cooked asparagus, cut into 1-inch pieces

2 tablespoons milk 

5 large eggs 

Kosher salt and freshly ground black pepper 

1/2 cup shredded cheese, such as sharp Cheddar, fontina, Gruyere or Monterey Jack