Preheat the oven to 375°F
Grease a loaf pan or line a baking sheet
Mix ground beef, breadcrumbs, eggs, milk, onion, garlic, salt, pepper, and Worcestershire sauce in a bowl
Add ketchup or tomato sauce if desired
Combine gently until just mixed
Shape the mixture into a loaf
Place the loaf in the pan or on the baking sheet
Spread ketchup or glaze over the top if desired
Bake for 45 to 60 minutes
Check that the internal temperature reaches 160°F
Let the meatloaf rest for 10 minutes
Slice and serve