Preheat the oven to 350°F (175°C).

In a large bowl, combine the ground beef, breadcrumbs, milk, onion, garlic, eggs, ketchup, Worcestershire sauce, salt, and black pepper. Mix well until fully combined.

Transfer the meat mixture to a greased loaf pan and shape it into a loaf.

In a small bowl, whisk together the glaze ingredients: ketchup, brown sugar, and mustard. Spread the glaze evenly over the top of the meatloaf.

Bake the meatloaf in the preheated oven for 1 hour or until the internal temperature reaches 160°F (71°C).

Remove the meatloaf from the oven and let it rest for 5 minutes before serving.

Slice the meatloaf and serve with your favorite side dishes.