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Pre-heat oven to 400 degrees F. Using a sharp knife, cut off the top of each head of garlic so the cloves are exposed. Drizzle 2 teaspoons of olive oil over each garlic head, then wrap the garlic in foil.
Roast for 35-40 minutes, or until the garlic cloves are tender. Remove from oven and let cool. When cool, use a spoon to remove the roasted garlic and crush in a small bowl.
In a medium saucepan, combine all of the ingredients. Stir well. Bring to a boil, then reduce to a simmer. Simmer for 20 minutes, stirring often. Adjust salt and pepper to taste.