Cook 4 large unpeeled garlic cloves in a skillet over medium heat, turning, until light brown, 15 minutes. Let cool, then peel. Cook 2 cups shelled edamame in a saucepan of boiling water, 5 minutes. Reserve 1 cup cooking water, then drain and cool. Chop the garlic in a food processor. Add the edamame, 1/2 teaspoon cayenne, 1/4 teaspoon ground cumin and a pinch each of salt and black pepper; process. Add 1/4 cup olive oil, 2 tablespoons lime juice and 1/4 cup chopped cilantro; pulse, thinning with the cooking water as needed.