Preheat the oven to 350 degrees F. Put a sheet tray in the oven to preheat.
Wash and trim the chicken legs of any excess fat. Mix the garlic, rosemary and panko together in a shallow rimmed dish and season well with salt and pepper. Alternately, crush the garlic and rosemary with some olive oil and salt in a mortar and pestle.
Crack the eggs into a similar dish, add the milk and whisk to combine. Season with salt and pepper, to taste. In another dish add the flour and season with salt and pepper, to taste.
Take the chicken legs and 1 at a time, dredge in the flour, then the egg wash and then coat well with the rosemary-garlic panko bread crumbs. Lay the chicken legs out on a tray lined with parchment paper, as you work. Refrigerate the legs for about 15 to 20 minutes for the breading to set.
Remove the hot sheet tray from the oven and drizzle with a good amount of olive oil. Arrange the chicken legs carefully on the tray, spacing them out evenly (the chicken will sizzle when added to the hot oil). Roast until the chicken legs are golden and crispy, about 35 to 40 minutes Remove the chicken from the oven to a serving platter. Season with salt and serve with lemon wedges.
You could also bread the legs by putting the bread crumbs in a large plastic bag and shaking the legs in the crumbs inside the bag.