Preheat the oven to 400°F (200°C).
In a mixing bowl, combine the ground beef, bread crumbs, Parmesan cheese, milk, egg, minced garlic, dried oregano, dried basil, salt, black pepper, and parsley (if using). Mix until all ingredients are well combined, but do not overmix.
Using your hands, form the mixture into meatballs about 1 to 1.5 inches in diameter. You should end up with approximately 16 meatballs.
Place the meatballs on a baking sheet or roasting pan, ensuring they are not touching each other.
Bake in the preheated oven for 20-25 minutes, or until the meatballs are browned and cooked through (internal temperature should reach 160°F or 71°C).
While the meatballs are baking, warm up marinara sauce in a small pot, if desired.
Once cooked, remove the meatballs from the oven and let them cool for a few minutes before serving.