Preheat oven to 400 degrees. Cut 3 squares of aluminum foil.
Cut the tops off the garlic heads from the papery pointed end, and cut enough to expose the tops of the garlic cloves, about ½ an inch.
Place each cut garlic clove inside the aluminum foil square and begin to bunch up the foil to create a casing for the cloves. On each head, drizzle 1 tablespoon of olive oil. Combine the pepper and rosemary and sprinkle the spices evenly over the 3 garlic heads.
Close the foil to create a packet and bake in the oven for 35-40 minutes.
Remove garlic heads from the oven and open the foil packets, let cool just enough to handle.
On a cutting board or in a bowl, squeeze all of the garlic cloves out of their roasted casings and mash with a fork to create a rough paste.
In a bowl, combine the Greek yogurt, the gorgonzola cheese, and the garlic, and combine well. Use a blender, food processor or hand blender if a smoother texture is preferred.
Serve with fresh-cut vegetables such as bell pepper slices, celery, carrots, pita chips, or similar*.
*Nutritional information does not include vegetables or crackers for serving.