In a bowl combine milk, eggs and bread; let stand for 5 minutes. Add the cheese, carrot, onion, salt and pepper. Crumble beef over mixture and mix well. Shape into a loaf in a greased 13x9-in. baking dish. Bake, uncovered, at 350° for 1-1/4 hours; drain. Combine brown sugar, ketchup and mustard; spread over meat loaf. Bake 15 minutes longer or until the meat is no longer pink and a thermometer reads 160°.
For a quick dessert to serve after enjoying Glazed Beef Loaf, heat canned peach halves. Place in individual bowls; sprinkle with cinnamon and top with whipped cream.