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Preheat oven to 400 degrees. Grease a 9x13-inch baking pan; set aside. To a large bowl, add ground beef, bread crumbs, onion, egg, milk, ginger, salt and pepper. Mix with your hands until just combined. Use a 1 ½ Tablespoon cookie scoop and scoop meat mixture into balls and place in prepared pan. Or, rub a little oil on your hands and then roll the meat mixture into roughly 1-inch balls. Bake, uncovered, for 20 minutes. Makes around 35 meatballs.
To prepare the teriyaki sauce: Pour all of the sauce ingredients into a medium saucepan. Whisk together until no lumps remain. Heat over medium heat until it thickens, whisking occasionally. This should only take 3-5 minutes.
When meatballs are done baking, dunk them in the teriyaki sauce and serve over cooked rice. Garnish with chopped green onions and serve with broccoli florets on the side.