Preheat your oven to 375°F (190°C).
In a large bowl, combine the ground beef, breadcrumbs, Parmesan cheese, milk, egg, minced garlic, oregano, basil, salt, and pepper. Mix until well combined.
Shape the mixture into small meatballs, about 1 inch in diameter.
Place the meatballs on a baking sheet and bake for 20 minutes, or until cooked through.
While the meatballs are baking, prepare the hoagie rolls by cutting a V-shaped wedge out of the top of each roll.
Scoop out some of the bread to create a hollow “boat” in each roll.
In a small bowl, mix the melted butter and garlic powder. Brush the inside of each hoagie roll with the garlic butter.
Once the meatballs are cooked, place 3-4 meatballs in each hoagie roll “boat.”
Top the meatballs with marinara sauce and shredded mozzarella cheese.
Place the filled hoagie rolls on a baking sheet and bake for an additional 10 minutes, or until the cheese is melted and bubbly.
Garnish with chopped fresh parsley before serving.
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