Preheat oven to 350 degrees F. Coat twelve 2 1/2-inch muffin cups with cooking spray. Cook pasta according to package directions; drain.
Meanwhile, in a large bowl combine the next three ingredients (through milk). Stir in cooked pasta. Using the back of a spoon, press mixture onto bottoms and slightly up sides of prepared muffin cups. Add meatballs and top with pasta sauce.
Bake 15 minutes. Sprinkle with cheese. Bake 2 minutes more or until meatballs are heated through and cheese is melted. Cool in muffin cups on a wire rack 5 minutes. Remove from muffin cups. If desired, serve with additional warmed pasta sauce.