Preheat the oven to 350°F (175°C)
Grease a loaf pan or line a baking sheet with parchment paper
In a large bowl, combine ground beef, breadcrumbs, eggs, milk, finely chopped onion, minced garlic, salt, black pepper, Worcestershire sauce, and ketchup
Mix until just combined
Shape the mixture into a loaf and place it in the pan or on the baking sheet
Spread a thin layer of ketchup or glaze over the top
Bake for 50 to 60 minutes, or until the internal temperature reaches 160°F (71°C)
Let the meatloaf rest for 10 minutes before slicing
Serve warm