In a 4- to 5-quart Dutch oven, cook potatoes and garlic cloves, covered, in enough lightly salted boiling water to cover for 20 to 25 minutes or until tender; drain. Return the hot, drained potatoes to the hot Dutch oven. Add the 1/4 cup butter. Let stand, uncovered, for 2 to 3 minutes. Meanwhile, in a small saucepan, heat the milk over low heat until hot but not boiling.