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Preheat the oven to 375 degrees F. Coat a rimmed sheet pan with cooking spray.
Place the sausage, baking mix, cheese, onion, garlic, milk and black pepper in a bowl; stir until thoroughly combined. A stand mixers works great for this!
Roll the meat mixture into 1 inch balls and place on the baking sheet. Bake for 20-25 minutes or until browned. Sprinkle with parsley then serve immediately with a dipping sauce of your choice.