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Preheat your oven to 350°F (175°C). Line a baking sheet with parchment paper or lightly grease it.
In a large mixing bowl, combine sausage, Bisquick, cheddar cheese, and milk. Mix thoroughly with your hands until well incorporated.
Form the mixture into 1-inch balls and place them on the prepared baking sheet, ensuring some space between each ball.
Bake for 20-25 minutes, or until golden brown and fully cooked.
Let the sausage balls cool slightly before serving. Enjoy them warm, either as a standalone appetizer or as part of a delicious breakfast spread.