Preheat the oven to 350°F
Grease a loaf pan or line a baking sheet with parchment paper
Mix ground beef, breadcrumbs, eggs, milk, chopped onion, minced garlic, salt, pepper, and ketchup or Worcestershire sauce in a bowl
Combine the ingredients gently until just mixed
Shape the mixture into a loaf
Place the loaf in the prepared pan or on the baking sheet
Spread ketchup or glaze over the top if desired
Bake for 50 to 60 minutes
Check that the internal temperature reaches 160°F
Let the meatloaf rest for 10 to 15 minutes before slicing
Serve warm