Preheat the oven to 350°F (175°C)
Line a baking sheet or loaf pan with parchment paper or lightly grease it
In a large bowl, combine ground beef, breadcrumbs, eggs, milk, chopped onion, minced garlic, salt, black pepper, Worcestershire sauce, and ketchup
Mix until just combined
Shape the mixture into a loaf or press it into the loaf pan
Place the meatloaf in the oven
Bake for 50 to 60 minutes
Mix ketchup, brown sugar, and a little mustard for the glaze if desired
Spread the glaze over the meatloaf during the last 15 minutes of baking
Check that the internal temperature reaches 160°F (71°C)
Remove from the oven
Let it rest for 10 minutes before slicing
Serve warm