Cook potatoes in boiling water to cover 15 to 20 minutes or until tender; drain well.
Meanwhile, place dried tomatoes and garlic cloves in a mini food processor; process until finely minced. Combine milk and butter in a glass bowl. Partially cover with heavy-duty plastic wrap, and microwave at HIGH 1 1/2 to 2 minutes or until butter is melted. Combine potatoes, warm milk, and salt and pepper in a large bowl. Beat at medium speed with an electric mixer until potatoes are fluffy. Gently stir in dried tomatoes and garlic.
Make-Ahead: Cover and chill prepared potatoes overnight. Microwave at HIGH 5 to 7 minutes to reheat.