Preheat oven to 250 degrees F. Place the garlic in a small saucepan. Add the milk to cover, bring to a boil, and simmer for 10 minutes. Put the garlic in a small ovenproof container, add olive oil to cover, and top with foil. Bake for 3 hours or until very soft. Squeeze the cloves out and leave whole.
Recipe courtesy of Charlier Trotter