Heat oil in a large skillet over medium-high heat. Add onion and garlic; cook and stir until onion is almost soft, about 3 minutes.

Reduce heat to medium; stir in condensed soup, milk, and Worcestershire sauce. Add meatballs; reduce heat to low and simmer, covered, until tender, 35 to 40 minutes.

Meanwhile, bring a large pot of lightly salted water to a boil. Add noodles and cook, stirring occasionally, until tender yet firm to the bite, 10 to 12 minutes; drain.

Add sour cream, salt, and pepper to meatballs in sauce. Cook until flavors combine, about 2 minutes. Serve meatballs over noodles.