Slice off 1/4 inch from top of garlic bulbs so tips can be seen; don't peel garlic. Cover the bulb loosely with foil and lay on a baking sheet. Roast garlic 45 minutes or until it is tender and lightly browned. Let cool until it is easy to handle. Squeeze garlic out of the peels.
In the mean time, boil 2 cups water. Place edamame in water and boil 5 minutes. Strain well.
Using a food processor or blender puree edamame, garlic, cumin, salt, oil, lemon juice, sour cream, and water until smooth. Spoon mixture into a serving bowl and top with cilantro.