Here's my recipe. I often make it with ground turkey instead of ground beef and it tastes even better.

1 1/2 lb. ground beef
1 1/4 c. milk
1 1/4 c. bread crumbs
1 egg
1/4 c. dry onion
1 1/4 tsp. salt
1/4 tsp. pepper
1/4 tsp. dry mustard
1/4 tsp. celery salt
1/4 tsp. garlic salt

350 for 1 1/2 hours or if using turkey about 1 hour.