Preheat oven to 350°F
Lightly grease a loaf pan or baking sheet
Combine ground beef, breadcrumbs, eggs, milk, finely chopped onion, minced garlic, salt, black pepper, ketchup, and Worcestershire sauce in a large bowl
Mix gently until just combined
Shape the mixture into a loaf and place it in the pan or on the baking sheet
Spread ketchup or meatloaf glaze over the top
Bake for 50 to 60 minutes, or until the internal temperature reaches 160°F
Let the meat loaf rest for 10 minutes before slicing
Serve warm