In a large bowl, dissolve the yeast in the warm water. Add the garlic mixture, milk, sugar, salt, and rosemary. Mix to combine ingredients. Add 2 1/2 cups flour a little at a time and mix until the dough comes together. If the dough is sticky, add more flour a tablespoon at a time.
Knead the dough until smooth and elastic, about 5 minutes.
Shape the dough into a ball and place in an oiled bowl. Turn the dough over to oil the top, cover the bowl with a clean kitchen towel, and let the dough rise in a warm place until doubled, about 45-60 minutes.
When the dough is doubled in size, punch it down, and turn onto a lightly floured surface. Shape into a 12-inch long oval loaf. Place the loaf on an oiled baking sheet, cover, and let the dough rise in a warm place until doubled, about 30-45 minutes.
Preheat your oven to 400˚F when your dough is almost finished rising.
Using a sharp knife, lightly cut four slashes diagonally across the loaf. Bake until the bread is golden brown, 20-25 minutes. Remove the bread from the oven and cool on a wire rack. Makes one loaf.