Simmer 1 1/2 pounds cubed peeled Yukon Gold potatoes in salted water with 1 sprig rosemary and 2 crushed garlic cloves until tender, 15 minutes; drain and discard the rosemary. Mash with 1/2 cup low-fat milk, 2 tablespoons each olive oil and chopped parsley, and salt and pepper. Transfer to a baking dish; top with grated parmesan. Broil until golden.
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