Meanwhile, gently separate the skin from the hen breast and tops of drumsticks by easing a paring knife or your fingers between the skin and the meat to make 2 pockets that extend all the way down to the neck cavity and over the drumsticks. In a small bowl, combine garlic, rosemary, salt, and pepper. Set aside 1 teaspoon of the fresh rosemary mixture (1/2 teaspoon if using dried rosemary). Rub remaining rosemary mixture under the skin onto the breast and drumsticks. Using 100%-cotton string, tie drumsticks to tail; tie wing tips to body. Sprinkle the reserved rosemary mixture on the skin. Uncover vegetables. Add hen to baking pan.