In a large mixing bowl, gently stir together all of the ingredients for the cherry tomato salsa. Set it aside to let the flavors combine.
Add the water to a medium sauce pan. Stir in salt until the water tastes like the sea. Bring the water to a boil over high heat.
Reduce the heat to medium-high. Slowly pour the polenta into the simmering water, whisking constantly. Stir in the milk. Reduce the heat to low and cook the polenta for 15 minutes, or according to the package instructions, stirring often, or until the polenta is thickened and pulls away from the side of the pan when stirred.
Remove the pan from the heat. Stir in the parmesan cheese until combined. Pour the mixture onto an oiled rimmed baking sheet or 8 x 10-inch baking pan. Smooth it into an even layer about about ½-inch thick.
Cool the polenta in the refrigerator until it's set enough to slice, or for about 1-2 hours.
Cut the polenta into your desired shapes. Heat a large skillet over medium-high heat. Add enough olive oil to coat the bottom of the skillet. Once the oil is hot enough to sputter when flicked with a drop of water (if using a cooking thermometer, this will be around 350℉), add the polenta and fry until golden brown, or for about 3-4 minutes. Flip the polenta and cook until the polenta is golden brown on the second side, or for another 3-4 minutes.
Remove the polenta from the skillet. Drain on paper towels if desired. Serve the polenta hot with the cherry tomato salsa, additional basil, parmesan cheese, and balsamic glaze, if desired.