Preheat your oven to 400°F (200°C).
In a large bowl, mix together the ground chicken, breadcrumbs, Parmesan cheese, milk, egg, minced garlic, salt, and black pepper until well combined.
Shape the mixture into 1-inch meatballs and place them on a baking sheet lined with parchment paper.
Bake the meatballs in the preheated oven for 15-20 minutes, or until they are cooked through and golden brown.
While the meatballs are baking, prepare the glaze by combining the soy sauce, honey, rice vinegar, minced garlic, and grated ginger in a small saucepan. Cook over medium heat, stirring occasionally, until the mixture thickens and becomes glossy.
Once the meatballs are cooked, remove them from the oven and brush them generously with the glaze.
Serve the chicken meatballs warm, garnished with chopped green onions if desired.