Preheat oven to 400°F (200°C) and lightly grease a large baking dish or rimmed baking sheet. In a small bowl, combine the breadcrumbs and milk; let sit for 5 minutes to form a panade paste.

In a large mixing bowl, combine ground meat, soaked breadcrumb panade, beaten eggs, grated Parmesan, minced garlic, chopped parsley, Italian herbs, salt, and black pepper. Gently mix with clean hands just until incorporated (do not overwork).

Roll the mixture into 1.5-inch round meatballs (about 18–20 pieces) and arrange evenly on the prepared baking sheet.

Bake for 18 to 20 minutes until golden browned on all sides and cooked through to 160°F (71°C).

Pour warm marinara sauce over the baked meatballs in a skillet or baking dish, top with shredded mozzarella and extra Parmesan, and return to the oven for 5 minutes until cheese is melted and bubbling.

Garnish with fresh torn basil leaves and serve hot over pasta or with crusty bread.