Roasted Garlic Mashed Potatoes

2 heads garlic
1 Tbsp. olive oil
6 medium potatoes, cut into eights
2 cups milk, warmed
1 Tbsp. butter
1 Tbsp. finely chopped fresh rosemary (optional)

Preheat grill or oven to medium heat 350. Cut each garlic head in half crosswise; brush oil all over cut sides of tops and bottoms. Wrap heads in heavy duty aluminum foil. Bake in covered grill for 45 minutes or until garlic is very soft. Squeeze garlic from skins into bowl and mash or puree; set aside.

In saucepan with lid, place potatoes in cold, salted water to cover. Bring to a boil, reduce heat and simmer until tender, about 20 minutes. Drain. Mash potatoes. Stir in milk, butter, garlic and rosemary.