Preheat the oven to 350°F. Lightly grease a loaf pan or line a baking sheet with parchment paper if you prefer to shape the loaf by hand. This will help prevent sticking later.

Pour milk over the breadcrumbs in a small bowl. Let them sit for about five minutes until the breadcrumbs absorb the milk and soften. This step improves the texture of the meatloaf.

In a large bowl, combine ground beef, soaked breadcrumbs, onion soup mix, eggs, ketchup, and Worcestershire sauce. Mix gently with your hands or a spoon until everything is combined. The mixture should be slightly loose and textured, not smooth.

Place the mixture in the prepared loaf pan, or shape it into a loaf about 8 inches long and 4 inches wide on the baking sheet. Press it gently; packing it down too hard will make the loaf dense.

In a small bowl, mix ketchup and brown sugar until the sugar dissolves. Spread half of the glaze on top of the loaf before baking and set the rest aside.

Bake for 55 to 65 minutes. Brush the reserved glaze over the top during the last 15 minutes to avoid burning. The meatloaf is done when a thermometer in the center reads 160°F, which is safe for ground beef.

Let the meatloaf rest for 10 minutes after baking. This allows the juices to settle so they don't run out when you slice it.