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Preheat the oven to 400°F / 200°C and preheat a grill pan over high heat.
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Prick the eggplants all over with a fork and rub with 2 teaspoons of oil.
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Place the eggplants on the hot grill and cook for 8 minutes, or until charred all over.
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Meanwhile, place the garlic cloves on a sheet of aluminium foil and drizzle with 2 teaspoons of olive oil. Fold in the edges of the foil to form a packet. Place the grilled eggplants and pouch of garlic on a baking sheet and bake for 45 minutes, or until the garlic is tender and golden, and the eggplants are very tender.
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Remove the eggplants and garlic from the oven and set aside to cool.
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Reduce the oven temperature to 375°F / 180°C.
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Remove and discard the skin from the eggplants and garlic. Cut the eggplants in half lengthwise and remove the seeds.
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Chop the eggplant pulp and garlic to form a coarse puree and place in a large bowl.
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Stir in the tahini, parsley, lemon juice, and remaining 2 tablespoons of oil. Season to taste with salt and pepper.