In a large bowl, combine the milk, saltines, onion and parsley. Crumble beef over mixture and mix well. Shape into four patties. Place in an 8 inch square baking dish coated with non-stick cooking spray.
In a small bowl, combine the gravy, ketchup, Worcestershire and pepper; pour over patties. Bake, uncovered, at 350* for 50-55 minutes or until meat is no longer pink.