Cut the tops off of each bulb of garlic - here is an example photo. Cut enough off that each clove is exposed, but don't cut off so much that the bulbs fall apart.
Drizzle olive oil over each bulb (don't be too skimpy) then sprinkle with a little salt and pepper.
Place in a baking dish and cover the dish with foil.
Bake for 1 1/2 hours, or until the garlic is very soft and pops out of its skin. (It may not need the whole 1 1/2 hours. Check it every once in a while to see how it is doing.)
When very soft, remove from oven and allow to cool for a little bit. Then use a spoon and pop each clove out of its skin.
You can serve as is, or stir the garlic into butter or oil, or use in place of minced garlic in cooking.
Notes:
Roasted garlic is much milder and much more flavorful than plain minced garlic. It is delicious used in garlic butter or garlic oil, or used in cooking.