Peel potatoes and cut into 2 inch chunks. Place in large pot of boiling salted water and boil for 15 minutes or until potatoes are soft when pierced with a fork.
Add roasted garlic cloves (squeezed out of their skins), milk and a bit of salt and pepper. Mash well with a potato ricer or masher, or an electric mixer until all is thoroughly combined and potatoes are fluffy. Add more salt and pepper if necessary.