I just happened on this by accident. It works like a damn!
Take a flat bottomed non-stick small fry pan. About two t's of olive oil and or butter. Heat set to low. You don't want the pan too hot.
Now take your whole bulbs of garlic and using a heavy sharp knife cut off the flat 'root-end' off the bulbs. Take off just enough to expose all the little cloves. This can be tricky if you don't use a heavy sharp knife I've discovered.
The whole bulbs are still intact.
Now place them exposed end onto the oiled warm pan. Leave them alone for at least half an hour. You can cover them with a lid.
Last night I roasted a few whole bulbs this way. When I carefully lifted the bulb from the pan most of the cloves slide out of their skins and adhered to the pan just a bit. The cloves were golden at the end and fork soft. They came easily away from the skins. Those that stayed in the whole bulb skin squeezed out easily.
It's an easy way to roast whole bulbs without the work/mess of breaking apart then peeling the individual cloves.