Heat oven to 400 degrees F
Prepare foil large enough to wrap each head of garlic.
Peel away the papery outer layer skin on garlic. Leave enough layers so head of garlic stays together. Cut 1/4-inch from top of cloves to expose inside the individual cloves.
Place head of garlic, cut-side-up, on foil. Drizzle with olive oil and season with salt and ground pepper.
Wrap foil around garlic. Bake for 40-50 minutes or until the cloves are light brown and soft.