1. Preheat oven to 425°.
2. Remove and discard giblets and neck from chicken. Rinse chicken with cold water; pat dry. Trim excess fat. Starting at neck cavity, loosen skin from breast and drumsticks by inserting fingers, gently pushing between skin and meat.
3. Combine garlic and rosemary. Rub seasoning mixture under loosened skin and into the body cavity. Sprinkle salt and pepper evenly over entire outside surface of chicken.
4. Place chicken in a shallow roasting pan coated with cooking spray. Bake at 425° for 10 minutes. Reduce heat to 375°; bake 1 hour or until a thermometer registers 180°. Let stand 5 minutes.