Preheat your oven to 350°F. Remove any plastic packaging from the Camembert, then place the cheese in its wooden box (if it came with one) or transfer it to a small oven-safe dish.
Score the top of the Camembert in a criss-cross pattern, cutting just through the rind.
Insert the garlic slices and rosemary leaves into the cuts, then drizzle with olive oil and season with freshly ground black pepper.
Place the Camembert on a baking sheet and bake for 15–20 minutes, until the cheese is melted, bubbly, and lightly golden on top.
Remove from the oven and serve immediately, directly from the dish, with crusty bread or crackers for dipping.