Cook the potatoes in a large pot of boiling salted water with the garlic cloves for 25 minutes or until the potatoes are soft.
Strain the potatoes and garlic into a colander and let stand for 5 minutes over the pot they were cooked in to allow them to steam dry.
Working in batches, press the potatoes through a potato ricer and into the pot. Stir in the milk, butter and herbs. Season with salt and pepper. Cover and keep warm.