Preheat oven to 350 degrees.
Crumble your ground beef into a large bowl and add breadcrumbs, milk, Parmesan cheese, onion, garlic, ketchup, Dijon, Worcestershire sauce, salt, and pepper.
Mix well to combine all of the meatloaf ingredients evenly.
Prepare the meatloaf glaze by mixing together the ketchup, balsamic vinegar, and Worcestershire sauce in a small bowl.
Line a bread loaf pan with aluminum foil and smear approximately two tablespoons of meatloaf glaze on the bottom to help prevent sticking. Then add the meat mixture into the pan, pressing firmly to fill the pan evenly.
Paint the top of the meatloaf mixture with the remaining glaze.
Place meatloaf in the oven for one hour, or until the internal temperature reaches 160 degrees.
Remove from the oven, and let cool slightly, then slice and serve.