In a medium bowl, combine warm water with yeast. Allow it to sit for 5 minutes until frothy.

Stir in olive oil, minced garlic, chopped rosemary, and salt. Gradually add flour until a sticky dough forms.

Transfer dough to a floured surface and knead for 5-7 minutes until smooth and elastic.

Place kneaded dough in a greased bowl, cover, and let rise in a warm area for about 1 hour.

After rising, punch down the dough and divide it into portions the size of a golf ball. Shape into muffins.

Place shaped muffins in a greased muffin tin and let rise for another 30 minutes.

Preheat oven to 375°F (190°C) and bake muffins for 20-25 minutes until golden brown.

Remove from oven and let cool in the pan for 5 minutes, then transfer to a wire rack to cool completely.