Peel outer skin from each garlic head and discard. Cut off top one-third of each garlic head. Place garlic, cut side up, in center of a piece of heavy-duty aluminum foil. Fold foil over garlic, sealing tightly. Bake at 350° for 1 hour or until garlic is soft. Remove from oven; cool 10 minutes. Remove and discard papery skin from garlic. Squeeze pulp from each clove or scoop out with a spoon.
Combine garlic pulp, lemon juice, and remaining ingredients in container of a small food processor; process until smooth. Serve at room temperature with chicken, pork, or vegetables.