Preheat oven to 350 degrees. Cut off the top of each garlic head to expose each clove. Wrap each garlic head in aluminum foil, drizzle with 1 teaspoon olive oil and sprinkle with salt and pepper. Close the foil and place directly on the oven rack.
Bake for 1 hour, or until golden and soft. Allow to cool slightly. With your fingers, remove the roasted garlic by squeezing the whole head of garlic and allowing the roasted garlic cloves to ooze out of their papery skins.