In a small bowl, combine warm water, sugar, and active dry yeast. Stir gently and let it sit for about 5 minutes until frothy.

In a large mixing bowl, whisk together all-purpose flour and salt. Slowly pour in the yeast mixture and olive oil, stirring until a sticky dough forms.

Transfer the dough to a floured surface and knead for 8 to 10 minutes until smooth and elastic.

Gently fold in chopped garlic and fresh rosemary until evenly distributed.

Place the dough in a lightly oiled bowl, cover with a towel, and allow it to rise for about 1 hour, or until doubled in size.

Preheat oven to 375°F (190°C). Punch down the risen dough, divide into portions, and place in a greased muffin tin. Cover and let rise for another 30 minutes.

Bake the muffin tin in the preheated oven for 20 to 25 minutes, until golden brown.