Prepare grill for indirect grilling; heat to medium. Remove loose, papery outer skin from garlic clove. Cut 1/2-inch slice from top to expose garlic. Place garlic bulb on 6- to 8-inch square of foil. Drizzle 1 teaspoon olive oil into opening of clove. Bring sides of foil together to loosely enclose garlic. Crimp edges to seal.
Place garlic packet on grill. Grill, covered, for 30 to 40 minutes or until knife inserted in center of clove meets no resistance. Remove garlic from packet. Cool slightly. Squeeze garlic from individual cloves into small bowl; mash with remaining 2 teaspoons oil. Set aside.
Meanwhile, sprinkle steaks evenly with pepper, rosemary and salt. Place steaks over medium direct heat on grill (if necessary, redistribute coals). Grill, covered, 5 to 8 minutes per side or to desired doneness. Spread steaks with roasted garlic mixture before serving.
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