Prepare a large baking sheet covered with wax paper. Set aside.
In a large bowl, whisk together milk and egg. Pour in the breadcrumbs and stir until breadcrumbs are wet. Let sit for 10-15 minutes.
After 15 minutes, add the ground beef and the remainder of the ingredients for the meatballs. With your hands, gently incorporate ground beef mixture until just combined. Do not overwork.
Using a large cookie scoop, loosely scoop meatball mixture into individual balls and place onto prepared baking sheet. Continue until all meat mixture is scooped out then gently form meatballs into uniform ball shapes. To keep it from getting touch, instead of roughly forming with your hands, toss the ball gently back and forth between your hands until it's relatively formed then put back on baking sheet.
Preheat oven to 375 °F (191 °C)
Heat a large oven-safe skillet over medium high heat. Once skillet hot, add olive oil to cover the bottom of the pan then add the meatballs to brown on two sides.
Reduce heat to medium then add the marinara sauce. Let it simmer gently then add in the cauliflower gnocchi. Stir around to coat and incorporate.
The oven should be done preheating by this point. Cover and put into oven to finish cooking, about 20 minutes.
Once done cooking, remove from oven and sprinkle with parmesan cheese and/or fresh parsley/basil on top prior to serving.