Remove papery skin from each garlic head (do not peel or separate). Wrap each head separately in aluminum foil.
Bake at 350 degrees for 1 hour; let cool for 10 minutes or this can be done ahead of time. Store in refrigerate if going to make soup a day or two later.
Squeeze roasted garlic bulbs into a blender or food processor.
Heat a soup pot and add onion, carrot and minced garlic, and saute 5 minutes.
Add potatoes, broth, salt, and pepper; bring to a boil.
Cover, reduce heat and simmer 20 minutes or until potatoes are tender.
Add 2 cups of potato soup to roasted garlic pulp and blend until smooth.
Return puree to pan; stir in milk and cook over low heat until thoroughly heated.
Remove from heat and serve.
Recipe by Let's Be Yummy at http://letsbeyummy.com/2014/10/23/roasted-garlic-potato-soup-dairy-free-recipe/