01 - Preheat oven to 400°F. Line a baking sheet with parchment paper.
02 - Combine ground beef, breadcrumbs, Parmesan, egg, milk, garlic, salt, pepper, and parsley in a large bowl; mix gently until just combined without overmixing.
03 - Shape mixture into 1-inch diameter meatballs and arrange on prepared baking sheet.
04 - Bake for 15 to 18 minutes until browned and cooked through.
05 - While meatballs bake, combine cranberry sauce, orange juice, honey, soy sauce, orange zest, Dijon mustard, and cayenne pepper (if using) in a saucepan; simmer over medium heat for 5 to 7 minutes until slightly thickened.
06 - Add baked meatballs to the glaze and gently toss to coat; simmer for an additional 2 to 3 minutes to meld flavors.
07 - Serve meatballs warm, garnished with extra parsley or orange zest if desired.