Preheat the oven to 375 degrees F. Line a rimmed baking sheet or baking pan with aluminum foil, set aside.
In a large bowl add the milk, bread crumbs and eggs. Let sit for 5 minutes.
Add the ground beef, onions, garlic, parsley, salt, and pepper. Use your hands to mix the ingredients together. Mix just until combined, do not overmix.
Use your hands to shape the meatloaf mixture into a loaf on the prepared baking sheet.
In a small bowl, combine the glaze ingredients; ketchup, brown sugar, mustard and nutmeg. Use a spoon or small spatula to combine. Spread the glaze mixture over the top and sides of the meatloaf.
Bake in the preheated oven, uncovered for 50-55 minutes. Or until an internal temperature reaches 160 degrees F.
Let it rest for 10 minutes prior to slicing.
Refrigerate any leftovers for up to 5 days.