Preheat oven to 400°F and line a baking sheet with parchment paper.
Combine plant-based turkey, lentils, and breadcrumbs in a mixing bowl.
Add nutritional yeast, garlic, parsley, soy sauce, oregano, salt, and pepper.
Mix until evenly combined.
Shape mixture into 16 meatballs.
Place on baking sheet and brush lightly with olive oil.
Bake for 18 minutes until firm.
Warm marinara sauce in a skillet.
Add baked meatballs to sauce and simmer 5 minutes.
Serve warm.