Asian Meatballs with Sesame Lime Dipping Sauce

Name: Asian Meatballs with Sesame Lime Dipping Sauce
Ingredients: 1/4 cup whole milk; 1/4 cup fine dry bread crumbs; 3/4 pound ground pork; 3/4 pound ground veal; 1 large egg, lightly beaten; 1/2 cup canned sliced water chestnuts, rinsed, drained, and finely chopped; 1/2 teaspoon salt; 1/2 cup chopped fresh cilantro plus 1/4 cup sprigs; 1/4 cup fresh cilantro sprigs; 5 tablespoons soy sauce; 4 teaspoons Asian sesame oil; 2 tablespoons fresh lime juice; 2 tablespoons water; 2 teaspoons sugar; Accompaniment: steamed white rice