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Cook and drain macaroni as directed on package.
In 10-inch skillet, melt butter over medium heat. Using whisk, stir in flour, salt and garlic. Cook 2 to 3 minutes, or until mixture smells nutty and is lightly golden, stirring constantly with whisk.
Add milk. Continue to beat with whisk, scraping bottom of skillet until mixture heats to boiling. Mixture will thicken. Remove from heat; add cheese and rosemary. Stir with whisk until smooth. Stir in drained macaroni.
Serve with additional rosemary if desired.