Preheat oven to 425°F. Line a large baking sheet with parchment paper.
In a large bowl, combine the panko and milk. Stir until well incorporated. Add the remaining meatball ingredients and mix until well combined.
Divide the mixture into 18 equal portions. Shape each portion into a round meatball. Arrange on the parchment-lined baking sheet.
Bake for 20 minutes. Meanwhile, stir together the glaze ingredients until combined. Spoon the glaze over top of the meatballs. Bake for 5 more minutes, until the internal temperature reads 165°F.
Serve topped with extra glaze, thinly sliced green onions, and toasted sesame seeds.
Notes
Storage: Store in an airtight container in the refrigerator for up to 3 days.Dairy-free: For dairy-free meatballs, use plain non-dairy milk (like unsweetened soy milk) instead.