Mash the kidney beans in a mixing bowl until no whole beans are left. Add the soy sauce, steak sauce, 2 T olive oil, garlic, lemon zest, bread crumbs, wheat gluten, and herbs, and use a fork to mix everything together. Use your hands to knead the mixture for about a minute, until everything is really well combined and firm.
Roll the bean mixture into walnut-sized balls (12-15 total). Smaller ones have the best texture.
Grease a rimmed baking sheet with olive oil. Place the balls on the sheet and then drizzle them with a little more oil, to coat. Bake for about 15 minutes, until lightly browned on the bottom, then flip them and bake for another 10 minutes. Remove them from the oven and pour about 1/3 c of your marinara sauce onto them, flipping them around to coat. Bake for an additional 5 minutes.
Serve with spaghetti and additional marinara sauce.