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Combine milk,butter,salt and pepper in a large saucepan and slowly bring it to the boiling point.
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While the milk is heating, peel and thinly slice the potatoes, dropping the slices into the hot milk.
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Add garlic, partly cover, and simmer for about 15-20 minutes, or until potatoes feel almost done when tested with the point of a sharp knife.
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Spray a casserole dish with cooking spray.
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Spoon potatoes and their liquid into the prepared casserole dish and sprinkle with the cheese.
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Bake in a preheated 325 degree oven until the sauce has thickened and the cheese has melted and browned slightly, about 45 minutes.
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If prepared the day before, cover and refrigerate potatoes and increase baking time by about 20 minutes.