Combine the ground beef in a mixing bowl. Add the minced garlic, chopped parsley, basil, breadcrumbs, milk, salt, and pepper. Gently mix until the ingredients are well blended, being careful not to overwork the meat.

Form the mixture into 10 balls, each about 2 ounces in size. Use your thumb to create an indentation in each ball and insert a mozzarella ball. Mold the meat around the cheese to enclose it fully. Shape into a smooth ball and place on a plate or tray. Repeat with the remaining mixture.

Chill the meatballs in the refrigerator for 20 to 30 minutes.

Heat the olive oil in a large skillet over medium-high heat. Add the meatballs, making sure not to overcrowd the pan. Cook for 7 to 10 minutes, turning occasionally, until the meatballs are browned on all sides.

Lower the heat to medium-low. Pour sauce over the meatballs, cover, and let simmer for 15 to 20 minutes, or until the meatballs are cooked through. Serve hot with extra sauce if desired. Enjoy!