Preheat the oven to 350˚. Pour the milk over the bread in a large bowl and let soak a few minutes. Use your fingers to smush up the bread into little pieces. Add the beef, eggs, carrots, parmesan, parsley, Italian seasoning, salt and pepper to the bread mixture. Knead with your hands until everything is completely mixed. Place the meat mixture on a foil-lined baking sheet and form it into a loaf shape. Arrange the bacon slices on the meatloaf, overlapping slightly. Bake until the internal temperature reaches 160˚ on a meat thermometer and the meatloaf is no longer pink in the middle, 50 to 60 minutes. Meanwhile, make the sauce: Combine the tomatoes with their juices, brown sugar, mustard powder, cayenne and Worcestershire sauce in a large saucepan. Bring to a simmer, partially cover and cook, stirring occasionally, until thickened but still saucy, about 30 minutes. Cut the meatloaf into thick slices and top with the sauce. Serve with green beans.