Preheat and prepare: Preheat oven to 375°F (190°C). Lightly grease a loaf pan or line a baking dish with parchment.
Mix the meatloaf: In a large bowl, combine ground beef, breadcrumbs, onion, garlic, eggs, milk, ketchup, Worcestershire sauce, salt, pepper, parsley, and paprika. Mix until just combined.
Shape the loaf: Transfer the mixture to the loaf pan or shape it into a loaf in the baking dish.
Make the glaze: In a small bowl, mix ketchup, brown sugar, and mustard until smooth. Spread half of the glaze over the meatloaf.
Bake: Bake for 45 minutes, then spread the remaining glaze on top. Return to the oven and bake for 10 more minutes, or until cooked through.
Rest and serve: Let the meatloaf rest for 10 minutes before slicing. Serve warm.