1. Preheat oven to 400 degrees Fahrenheit. Prepare a muffin pan with six paper liners.
2. In a large bowl, combine flour, baking powder, and rosemary.
3. In a separate bowl, whisk milk, yogurt, egg, oil, and garlic.
4. Add the wet mixture to the dry ingredients.
5. Add olives (reserve a few for topping if desired) and cheese. Stir gently until combined.
6. Divide mixture among the six muffin liners.
7. Bake for 20–25 minutes or until golden or an inserted toothpick comes out clean.