1. Bring a large saucepan of lightly salted water to a boil over high heat. Once boiling, add in the cauliflower and cook until very tender, about 10 minutes.*
2. Drain and then carefully transfer the cauliflower to the bowl of a food processor. Add in the garlic, milk, butter, cream cheese, salt and pepper. Process until smooth (start with ¼ cup of the milk and then add more if needed to get it to the right consistency). Taste and add additional salt/pepper if needed. Transfer to a serving bowl and garnish with the chopped rosemary.