Preheat the oven to 400°F (200°C).
In a large mixing bowl, combine the ground beef, breadcrumbs, grated Parmesan cheese, chopped parsley, egg, minced garlic, salt, black pepper, oregano, basil, and milk.
Using your hands or a spoon, mix the ingredients until just combined. Do not overmix, as this may result in tough meatballs.
Shape the mixture into meatballs, about 1 to 1.5 inches in diameter, and place them on a baking sheet lined with parchment paper.
Bake in the preheated oven for about 20 minutes, or until the meatballs are cooked through and have an internal temperature of 160°F (70°C).
Remove from the oven and let them rest for a few minutes before serving.
Serve with marinara sauce and pasta, or use in a meatball sub.
Store leftover meatballs in the refrigerator for up to 3 days or freeze for longer storage.