Cut a thin slice off of tops and bottoms of cherry tomatoes. Scoop out and discard fruit pulp and seeds using a very small spoon; set tomato shells aside. Stir together cream cheese and roasted garlic aioli. Transfer to a pastry or resealable plastic bag fitted with a round piping tip.

Place 1 arugula leaf into each tomato shell; fill with cream cheese mixture. Top with crisp-cooked crumbled bacon and panko bread crumbs. Refrigerate until ready to serve or serve immediately.