1. Preheat the oven to 400 degrees F. Place the tomatoes and garlic cloves on a large baking sheet. Drizzle with olive oil and toss until tomatoes are well coated. Season with salt and pepper, to taste. Place in the oven and roast for 20 minutes.
2. While the tomatoes are roasting, make the polenta. Make polenta according to package instructions. Stir in butter, milk, parmesan cheese, and basil. Season with salt and pepper.
3. Serve immediately so the instant polenta doesn't firm up. Pour the polenta into individual bowls and top with roasted tomatoes.
Note-If the polenta firms up, just add more water or milk and stir. We ate leftovers the next day. I just added a little water before heating it up in the microwave and it was creamy and delicious!