In a large bowl, combine the milk, soup mix and 2 teaspoons Worcestershire sauce. Crumble beef over mixture and mix lightly but thoroughly.
With wet hands, shape into 1-in. balls. Place meatballs on a greased rack in a shallow baking pan. Bake, uncovered, at 400° for 12 minutes or until meat is no longer pink. Drain on paper towels.
Meanwhile, combine the ketchup, brown sugar and remaining Worcestershire sauce in a Dutch oven. Bring to a boil over medium heat. Cook and stir until thickened. Reduce heat; add meatballs. Simmer until heated through, about 15 minutes.