Heat the oil in a medium saucepan over medium heat. Add the garlic and cook 30 seconds, stirring constantly.
Add the milk and cream cheese, whisk until smooth, and then whisk in the mozzarella shreds.
Continue cooking (whisking constantly) until the mozzarella shreds are melted.
Turn off the heat and stir in the sundried tomatoes, rosemary, salt, and pepper.
Serve warm, with bread, crackers, fresh fruit or vegetables, or anything you like for dipping.