Preheat your oven to 350°F (175°C). Line a baking sheet with parchment paper or lightly grease a 9x5-inch loaf pan. For crisper edges and more browning, form the meatloaf free-form on a baking sheet. A loaf pan gives you a taller, softer loaf.
In a large mixing bowl, combine the breadcrumbs and milk. Stir and let sit for 3–5 minutes until the mixture thickens into a soft mush. This helps keep the meatloaf moist and tender.
1 cup plain breadcrumbs, 3/4 cup milk
Stir the Lipton onion soup mix, 1/2 cup ketchup, Worcestershire sauce, minced onion, garlic, salt, and black pepper into the breadcrumb mixture. Mix well so the seasonings are evenly distributed.
1 packet Lipton Onion Soup Mix, 1/2 cup ketchup, 1 tablespoon Worcestershire sauce, 1 small onion, 2 cloves garlic, 1/2 teaspoon black pepper, 1/2 teaspoon salt
Add the ground beef and lightly beaten eggs to the bowl. Using your hands or a sturdy spatula, gently mix until just combined. Avoid overmixing to keep the meatloaf from becoming dense.
2 pounds ground beef, 2 large eggs
Transfer the meat mixture to your prepared pan or baking sheet. Shape it into a loaf about 8–9 inches long and 3–4 inches wide, smoothing the top slightly for even cooking.
Place the meatloaf in the oven and bake for 35–40 minutes to give it a head start before glazing. If using a loaf pan, it may need a few extra minutes; begin checking at 35 minutes.
While the meatloaf bakes, whisk together 1/3 cup ketchup, brown sugar, mustard, and apple cider vinegar (if using) in a small bowl. Adjust sweetness or tang to taste.
1/3 cup ketchup, 2 tablespoons brown sugar, 1 tablespoon Dijon mustard, 1 teaspoon apple cider vinegar
After 35–40 minutes, remove the meatloaf from the oven. Spoon or brush the glaze over the top and sides. Return to the oven and bake for another 20–25 minutes, or until the internal temperature reaches 160°F (71°C).
Remove the meatloaf from the oven and let it rest for 10–15 minutes before slicing. This allows the juices to redistribute and helps the slices hold together.
Slice the meatloaf into 3/4- to 1-inch thick slices and serve warm with mashed potatoes, roasted vegetables, green beans, or a simple green salad. Offer extra ketchup or glaze on the side if desired.