Grilled Polpette Kababs

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1/2 cup whole-milk ricotta cheese, such as Calabro

1/4 cup panko breadcrumbs 

1/4 cup whole milk 

1 teaspoon dried oregano 

3/4 teaspoon kosher salt 

1/2 teaspoon Calabrian chili paste 

1 large egg 

1 pound 80/20 ground beef chuck 

1 cup freshly grated Parmesan cheese 

2 tablespoons chopped fresh Italian parsley 

1 cup jarred marinara sauce