In a large mixing bowl, combine the ground beef, bread crumbs, milk, egg, chopped onion, minced garlic, Worcestershire sauce, salt, and pepper. Mix the ingredients with your hands until fully combined. Divide the mixture into equal portions and shape them into oval patties.

Heat the olive oil in a large skillet over medium heat. Once hot, carefully add the patties to the skillet. Cook for about 4-5 minutes on each side, or until browned. Once done, transfer the patties to a plate and set aside.

In the same skillet, reduce the heat to medium-low. Pour in the beef broth and soy sauce, scraping up any browned bits from the bottom of the pan with a spatula. Allow the mixture to simmer for about 5 minutes, allowing it to reduce slightly.

Return the patties to the skillet. Cover and let them simmer in the gravy for about 10-15 minutes, depending on the thickness you desire for your gravy. You can adjust the consistency by adding more broth or letting it simmer longer.

Once ready, serve the Salisbury steak hot, garnished with fresh parsley if desired. Pair it with mashed potatoes, rice, or your favorite vegetable side for a complete meal.