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Preheat oven to 400°. Drizzle olive oil over top of garlic and wrap in foil. Bake until golden and soft, 43 to 45 minutes, then set aside. Meanwhile, add potatoes to a large pot. Cover potatoes with a few inches of water (about 6 cups) and season with salt; cover pot and bring to a boil. After about 30 minutes, check if potatoes are soft, then drain in a colander. In a large bowl, mash or rice potatoes, then slowly add butter, cream and garlic. Add balsamic, season with salt and garnish with parsley. Serve immediately.