In a large bowl, combine milk and bread crumbs. let sit while preparing the other ingredients.
Combine all ingredients with the milk and bread crumb mixture until ingredients are just fully incorporated. Form mixture into 1 inch balls and place balls on a parchment lined baking sheet.
Bake meatballs at 375 degrees for 20 minutes or until browned on all sides.
Add meatballs to a baking dish. Cover with marinara sauce and cheese. Return to oven and cook for 5-10 minutes or until cheese is melted and sauce is bubbling. Serve and enjoy!