Mix the meats, panko, egg, garlic, onion, paprika, salt and pepper in a large bowl with your hands until completely combined. Scoop mixture into heaping tablespoons, then roll into neat balls. Transfer to a 9-by-13-inch baking dish. Bake until cooked through, 25 to 30 minutes.
Add pepper jelly, orange juice and soy sauce to a small pan. Cook over medium-high heat until it simmers, then remove from the heat. Pour jelly sauce over the meatballs and toss to coat.