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Preheat oven to 400°F. Line baking sheet with parchment. In a bowl, soak breadcrumbs in milk 3–5 minutes. Mix beef, Parmesan, parsley, egg, salt, pepper, and soaked crumbs. Shape into 1-inch meatballs (20–24). Bake 12–15 minutes until golden and cooked through.
In a large pot, heat olive oil (if using) over medium. Add garlic and sauté 30 seconds.
Pour in beef broth, crushed tomatoes, and cannellini beans. Stir in Italian seasoning, salt, and pepper. Bring to a gentle boil.
Add the baked meatballs to the pot. Reduce heat to medium-low and simmer uncovered 20–25 minutes so flavors come together.
Just before serving, stir in shredded Parmesan to melt into the soup. Garnish with fresh thyme or parsley. Serve warm with crusty bread or salad.