1Beat eggs, milk and pepper slightly; set aside. Heat oil in 8-inch nonstick skillet or omelet pan over medium-high heat. Cook remaining ingredients except soy sauce in oil, stirring frequently, until vegetables are crisp-tender. Stir in soy sauce. Remove mixture from skillet; keep warm.
2Spray same skillet with cooking spray; heat over medium-high heat. Quickly pour about 1/2 cup of the egg mixture into skillet. Slide skillet back and forth rapidly over heat and, at the same time, quickly stir with a fork to spread eggs continuously over bottom of skillet as they thicken. Let stand over heat a few seconds to lightly brown bottom of omelet. (Do not overcook--omelet will continue to cook after folding.)
3Spoon about 1/4 cup of the rice mixture on one side of omelet. Run spatula under unfilled side of omelet; lift over rice mixture. Tilting skillet slightly, turn omelet onto plate. Repeat with remaining egg and rice mixtures.