01 - Preheat the oven to 400°F. Line a baking sheet with parchment paper.
02 - In a large bowl, combine the ground beef, breadcrumbs, Parmesan cheese, milk, egg, minced garlic, parsley, oregano, salt, and pepper. Mix gently until just combined, being careful not to overwork the meat.
03 - Shape the mixture into 12 equal-sized meatballs and arrange them on the prepared baking sheet. Bake for 18 to 20 minutes until browned and cooked through to an internal temperature of 160°F.
04 - While the meatballs bake, heat the marinara sauce in a large skillet over medium-low heat. Stir in the red pepper flakes if using.
05 - Transfer the baked meatballs into the warm marinara sauce, turning to coat evenly. Simmer gently for 5 to 7 minutes so the flavors meld.
06 - Stir together the melted butter and grated garlic. Slice the sub rolls lengthwise without cutting all the way through. Brush the cut sides with the garlic butter and toast on a baking sheet for 3 to 4 minutes until golden.
07 - Place 3 saucy meatballs inside each toasted roll. Spoon extra marinara over the top and sprinkle generously with shredded mozzarella.
08 - Return the assembled subs to the oven for 3 to 4 minutes until the mozzarella is fully melted and bubbly.
09 - Finish with chopped fresh basil or parsley if desired. Serve immediately while hot.