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Step 1
Heat the broiler to high with a rack no more than 6 inches from the heat source. (See Tip if you don’t have a broiler.) Using a fork, scrape out some of the interior of the rolls until you get about 1 cup bread crumbs. Add them to a large bowl along with 1/2 cup water, the egg, 1 teaspoon salt and several grinds of pepper. Finely grate 1 garlic clove into the mixture, then stir to combine. Let sit for 5 minutes.
Step 2
Lightly grease a large (12-inch), oven-proof skillet with olive oil. To the bread crumbs, add the beef, Parmesan and chopped basil. Stir with your hands until combined, avoiding overmixing. Roll into 12 balls (about 2 heaping tablespoons/2 ounces each) and place them in the prepared skillet as you go. Broil the meatballs until browned and nearly cooked through, 5 to 7 minutes.
Step 3
Move the skillet to the stovetop. Add the marinara sauce, stir to coat the meatballs, and warm over medium-low heat while you toast the rolls: Place the rolls on a baking sheet, cut-side up, and broil until lightly golden, 1 to 2 minutes. Rub the cut sides of the roll with the second garlic clove.
Step 4
Divide the meatballs and sauce among the rolls, then top with mozzarella. Broil until the mozzarella is melted and browned in spots, 1 to 2 minutes. Top with more grated Parmesan, basil leaves and black pepper.