In 3-quart saucepan, place potatoes and garlic; add enough water (salted if desired) to cover. Heat to boiling. Reduce heat to medium-low; cover loosely and boil gently 15 to 20 minutes or until potatoes are tender. Drain; shake pan with potatoes over low heat to dry.
Mash potatoes and garlic until no lumps remain. Add milk in small amounts, beating after each addition (amount of milk needed to make potatoes smooth and fluffy depends on type of potato used).
Add remaining ingredients. Mash vigorously until potatoes are light and fluffy.