Mix the milk and bread crumbs together in a small bowl and allow to soak for five minutes. Combine the remaining ingredients for the meatballs in a large bowl along with the soaked bread crumbs. Mix together very well with your hands.
Form tablespoon (or teaspoon-size balls, if you like them smaller) with the meat mixture and place them on a sheet pan. Keep your hands a little moist with cold water to prevent the meatballs from sticking to your hands.
Heat a 4 to 6 quart pot and add the two tablespoons of oil and the sliced garlic. Saute for 30 seconds, being sure not to burn the garlic. Add the escarole and saute for five minutes, or until it collapses. Be careful not to burn the escarole.
Add the chicken stock and simmer gently, covered, for thirty minutes. Add salt and pepper to taste. Carefully drop the meatballs into the simmering soup, but do not stir.
After two minutes, when the meatballs have held their form, carefully stir the meatballs and poach them for another six to seven minutes, but do not boil the soup heavily. Serve in shallow bowls with lots of grated cheese. I love using Gruyere, but Parmesan works too.
Just a note: This recipe makes a lot of meatballs, so I usually freeze some for the next batch of soup I want to make.
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