Preheat and prep: Preheat the oven to 350°F and line a baking sheet with foil.

Make the panade: In a large bowl, stir together the breadcrumbs and milk. Let it sit for 5 minutes until the crumbs soften and soak up the milk.

Mix the meatloaf: Add the ground beef, eggs, onion, garlic, Worcestershire sauce, salt, and pepper to the bowl with the panade. Mix with your hands just until combined; don't overwork it or the loaf will turn dense.

Shape: Turn the mixture onto the prepared baking sheet and shape into a loaf about 9x5 inches.

Glaze: Stir together the ketchup, brown sugar, and mustard in a small bowl. Spread half the glaze over the top of the loaf.

Bake: Bake for 45 minutes, then brush on the remaining glaze and bake another 15-20 minutes, until the center reaches 160°F on a meat thermometer.

Rest and serve: Let the meatloaf rest for 10 minutes before slicing.