Peel roasted garlic cloves and squeeze out pulp into a small bowl. Add thyme, basil, parsley and marjoram and mix thoroughly. Rinse chicken and pat dry. Dip each breast in milk and then coat with breadcrumbs, shaking off excess. Saute chicken in hot olive oil for approximately 2 minutes on each side. Lay out four 18 by 15 inch sheets of parchment paper and fold each in half. Unfold parchment and place 1 chicken breast on each sheet next to fold. Spread 1/4 of garlic mixture over each breast. Fold and tightly seal each packet by overlapping 1/4 inch folds along each edge. Place packets on baking sheet and bake in 375 degree oven for 30 minutes. Serve.