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Preheat oven to 350°F. Warm rolls in oven, 5 to 10 minutes. Slice off and discard ends of each roll. Cut rolls in half lengthwise.
Drizzle cut sides of top and bottom roll halves with olive oil and rub with clove of garlic until fragrant. Arrange bottom roll halves on a baking sheet, cut side up. Spoon a generous layer of tomato sauce onto each of the bottom halves.
Slice meatballs in half and arrange on sandwiches, overlapping as necessary for even coverage. Spoon more tomato sauce on top of meatball halves and grate Parmesan all over.
Lay sliced mozzarella on top of meatballs. Transfer baking sheet to oven and bake until mozzarella is fully melted, about 4 minutes; warm roll top halves in oven for last minute of cooking.
Close sandwiches and serve immediately.