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Squeeze zucchini in a potato ricer or clean kitchen towel to remove excess moisture. Transfer to a bowl; add beef, millet, garlic, parsley, egg, 1 teaspoon salt, and 1/4 teaspoon pepper. Gently combine using 2 forks.
Roll mixture into 1 1/2-inch balls and arrange on a rimmed baking sheet.
Preheat broiler with a rack in upper third. Drizzle meatballs with oil; toss to coat.
Broil, rotating sheet once, until golden on top and cooked through, 8 to 10 minutes. Serve over squash, with marinara sauce, cheese, and basil.
1 zucchini, grated
8 ounces ground beef, preferably 90 percent lean
1 cup cooked millet, or quinoa
2 cloves garlic, minced
2 tablespoons chopped flat-leaf parsley
1 large egg, lightly beaten
Kosher salt and freshly ground pepper
Extra virgin olive-oil, for drizzling
Roasted spaghetti squash or sauteed zucchini spirals, for serving
3 cups marinara sauce, for serving
Freshly grated Parmigiano-Reggiano and fresh basil leaves, for serving