Heat oven to 350ºF. With a sharp knife, cut top ¼” off of garlic heads, exposing cloves inside. Place in small baking dish or oven proof skillet; drizzle top of cut cloves with olive oil and a light pinch of salt and pepper. Cover with lid or foil and bake until very soft and golden on top, about 40-45 min. Meanwhile, slice baguette and drizzle lightly with olive oil. Toast bread in oven on sheet pan until golden but still semi soft, 6-8 min. Place whole roasted garlic heads on serving plate with toasted baguette arranged around and soft cheese alongside. Serve immediately with small knife to remove garlic cloves (TIP: squeeze bulb gently to push garlic out of skins).