Combine warm water and instant yeast in a mixing bowl and let sit for 5 minutes until foamy.

Add flour, salt, olive oil, minced garlic, and chopped rosemary to the bowl and mix until a sticky dough forms.

Transfer the sticky dough to a floured surface and knead for 5 minutes until smooth and elastic.

Place the dough in a greased bowl, cover with a towel, and let rise for 1 hour until doubled in size.

Preheat oven to 400°F (200°C). Punch down the risen dough and divide it into 10-12 pieces.

Shape each piece into a ball and place in a greased muffin tin, leaving some space.

Cover the muffin tin and let the dough rise for another 30 minutes.

Bake the muffins for 15-20 minutes, until golden brown and hollow when tapped.

Cool in the tin for 5 minutes, then transfer to a wire rack to cool completely.