Using a sharp knife, score each head of garlic 1 inch from top, and peel away top inch of skin. Scrub the potatoes well, dry them, and prick each several times with a fork.
Heat oven to 425 degrees. Rub heads of garlic lightly with olive oil, and wrap them loosely in aluminum foil. Bake garlic and potatoes until garlic is very soft and potatoes are tender, about 1 hour. Serve each potato with a head of garlic; let guests squeeze roasted garlic from skin, and mix it into baked potato along with salt, pepper, and olive oil as desired.
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