Preheat oven to 400°F. Line a baking sheet with parchment paper.
Add breadcrumbs and milk to a large mixing bowl. Stir and let sit for 5 minutes.
Add eggs, Parmesan cheese, onion, garlic, Worcestershire sauce, olive oil, salt, pepper, garlic powder, onion powder, parsley, basil, oregano, and crushed red pepper flakes if using. Mix until combined.
Add the ground beef and gently mix until just combined. Do not overmix.
Form into 1 1/2-inch meatballs and place on the prepared baking sheet.
Bake for 20 to 23 minutes, or until browned and cooked through.
Serve as desired, or simmer in marinara sauce for 15 to 20 minutes before serving.