Combine garlic, pepper and salt to taste; rub over tenderloins. Cover and chill 1 hour.
Preheat oven to 425°F. Lightly coat rack of shallow roasting pan with nonstick cooking spray. Brown tenderloins in large nonstick skillet over medium-high heat 1 to 2 minutes on each side. Place on roasting pan rack.
Bake 25 to 30 minutes or until meat thermometer inserted into thickest portion registers 160°F. Let stand 10 minutes before slicing.
Meanwhile, heat evaporated milk in medium saucepan over medium heat, stirring frequently. Add horseradish and mustard; cook, stirring constantly, until mixture is heated. Serve over tenderloins.
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