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Preheat broiler to high heat.
Stir together egg, breadcrumbs, milk, Parmesan cheese, onion, and garlic powder in a bowl.
Add ground beef and season with salt and pepper. Mix well and spread mixture evenly into a thin layer over the cut sides of the rolls.
Heat olive oil in a large skillet or griddle over medium-high heat.
Place rolls, meat side down in the skillet and cook until browned and cooked through, 4 to 5 minutes.
Flip rolls and top with desired amount of marinara and cheese.
Transfer rolls to a rimmed baking sheet and place in the preheated oven under the broiler until cheese is melted and bread is toasted around the edges, about 1 minute.
Fold rolls to close and serve.