Heat oven to 375°F.
Line a large baking dish or baking sheet with large piece of foil. (See notes)
Lightly coat the foil with baking spray or brush with olive oil.
Arrange sprigs of rosemary down the middle.
Cut one of the lemons into thin slices and arrange down the middle of the foil with the rosemary.
Place the salmon on top.
Drizzle the salmon with olive oil and season with salt and pepper. Rub to coat.
Scatter the garlic cloves over the top. Lay the remaining rosemary and lemon slices on top of the salmon. Juice the second lemon and pour over top.
Fold the sides of the foil up and over until it is completely enclosed and sealed with some air inside for circulation.
Bake for 15-20 minutes depending on how thick your salmon is.
Remove salmon from oven and open foil to expose salmon. Change the oven to broil and return the salmon to the oven to cook for another 2-3 minutes until the salmon and garlic are browned. Make sure you don't overcook the salmon or burn the garlic.
Remove the salmon from the oven.
Cut salmon into portions. Sprinkle with additional fresh herbs or a squeeze of lemon.