Preheat oven to 375F. Place garlic on baking sheet with skin on, and roast for 10 minutes, until aromatic. Remove from oven and set aside.
Place brie on a baking sheet or in a baking dish. Spread honey on top of brie round. Slice the pear and garlic; assemble on top of honey in any pattern that you like. Season with salt and pepper. Place in oven and bake for 3-4 minutes. Remove from oven, add rosemary on top, and bake for 2-3 minutes more, taking care not to burn the rosemary. You’ll want the cheese to be warm and gooey. Serve immediately and enjoy with crackers or toasted bread.