The correct answer is $\boxed{\text{B}}$.
The series is $1, 5, 11, 19, 29, 55$. The difference between consecutive terms is $4, 6, 8, 10, 12, \dots$. Therefore, the missing term is $41$.
Option A: $55$ is not the missing term because it is not in the series.
Option B: $41$ is the missing term because it is the next number in the series after $29$.
Option C: $29$ is not the missing term because it is already in the series.
Option D: $19$ is not the missing term because it is already in the series.