Cut off top quarter inch of the garlic bulbs to reveal cloves. Place garlic bulbs cut side down in a saucepan. Cover with milk and let simmer for 10 minutes.
Drain the garlic and discard the milk.
Place garlic bulbs upright in an ovenproof pan, and drizzle well with olive oil. Cover with foil and bake at 350 degrees for 1 ½ hours or until soft.