Preheat your oven to 400°F (200°C) and line a baking sheet with parchment paper.

Combine the panko breadcrumbs and whole milk in a small bowl and let sit for 5 minutes.

In a large bowl, mix ground beef, ground pork, soaked breadcrumbs, egg, minced garlic, chopped onion, chipotle peppers, adobo sauce, smoked paprika, cumin, oregano, salt, pepper, and cilantro until just combined.

Shape the mixture into 1½-inch meatballs and place on the prepared baking sheet.

Drizzle olive oil over the meatballs to promote browning.

Bake for 18 to 20 minutes, until cooked through with a minimum internal temperature of 160°F.

Let the meatballs rest on the baking sheet for 5 minutes before serving.