01 - Preheat the oven to 400°F. Line a rimmed 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 with your hands until just combined, being careful not to overwork the meat.
03 - Form the mixture into 12 equal meatballs and arrange them on the prepared baking sheet. Bake for 18 to 20 minutes until deeply browned and cooked through to an internal temperature of 160°F.
04 - While the meatballs bake, pour the marinara sauce into a large skillet set over medium-low heat. Stir in the red pepper flakes if using, and bring to a gentle simmer.
05 - Transfer the baked meatballs into the simmering sauce, turning to coat evenly. Let them simmer gently for 5 to 7 minutes so the flavors meld.
06 - Stir together the melted butter and grated garlic in a small bowl. Slice each sub roll lengthwise without cutting all the way through. Brush the cut surfaces generously with the garlic butter and place on a baking tray. Toast in the oven for 3 to 4 minutes until golden and crisp.
07 - Arrange 3 saucy meatballs inside each toasted roll, spooning extra sauce over the top. Sprinkle the mozzarella cheese generously and evenly over each sub.
08 - Return the assembled subs to the oven for 3 to 4 minutes, or until the mozzarella is fully melted, bubbly, and lightly golden in spots.
09 - Finish with a scattering of fresh basil or parsley if desired. Serve immediately while hot.