Preheat oven to 375°F (190°C).

Scrub potatoes and pierce with a fork.

Wrap garlic cloves in aluminum foil.

Bake potatoes and garlic for 1 hour, or until potatoes are soft.

While potatoes are baking, heat olive oil and rosemary in a pan over medium heat for 2-3 minutes until fragrant.

Remove potatoes from oven and cut in half.

Carefully scoop out the potato flesh into a large bowl, discarding or saving the skins.

Squeeze the roasted garlic from their skins into the bowl with the potatoes, discarding the skins.

Add the infused olive oil and salt to the potatoes and garlic.

Mash the potatoes until fluffy.

Gradually add low-fat milk until desired consistency is reached.

Serve immediately.