Heat 2 tablespoons olive oil in a large skillet over medium heat.
In a large bowl, combine 1/4 cup finely diced onion, 1 grated garlic clove, salt and pepper to taste, and 1/2 pound ground beef. Mix until just combined, then form the mixture into small meatballs.
Add the meatballs to the hot skillet in a single layer (work in batches if needed). Cook, turning as needed, until browned on all sides (about 2 minutes per side).
Reduce the heat to low or medium-low. Pour in 1 1/2 cups pizza sauce and, if your sauce is thick, add up to 1/2 cup water to reach your desired consistency. Gently stir so the meatballs are coated in sauce.
Cover the skillet and simmer until the meatballs are cooked through (no pink in the center) and the sauce is heated through, adjusting heat as needed to maintain a gentle simmer.
Meanwhile, preheat the oven broiler to high.
Open the 4 rolls. Divide the meatballs and sauce among the rolls (about 4–5 meatballs per roll). Top each with 1/4 cup grated mozzarella cheese and 4 slices of pepperoni.
Place the assembled sandwiches under the broiler until the cheese is melted and the pepperoni is sizzling, watching closely to prevent burning.
Remove from the oven and serve hot.