Preheat oven to 450°F. Combine garlic and pepper; rub over surfaces of roast.

Place roast, bone side down (bones take the place of a meat rack), in shallow roasting pan. Roast 15 minutes. Reduce oven temperature to 325°F. Roast 20 minutes per pound for medium or until internal temperature reaches 145°F when tested with meat thermometer inserted into thickest part of roast, not touching bone.

Meanwhile, prepare Yorkshire Pudding batter and Horseradish Cream Sauce.

When roast has reached desired temperature, transfer to cutting board; cover with foil. Increase oven temperature to 450°F. Reserve 1/4 cup drippings from roasting pan for Yorkshire Pudding. Let roast stand 10 to 15 minutes before carving. Internal temperature will continue to rise 5° to 10°F during stand time.

While pudding is baking, carve roast. Serve roast with Yorkshire Pudding and Horseradish Cream Sauce.

Process milk, eggs and salt in blender or food processor 15 seconds. Add flour; process 2 minutes. Let batter stand in blender at room temperature 30 minutes to 1 hour.

Place reserved meat drippings in 9-inch square baking pan. Place in 450°F oven 5 minutes.

Process batter another 10 seconds; pour into hot drippings. Do not stir.

Immediately return pan to oven. Bake 20 minutes. Reduce oven temperature to 350°F; bake 10 minutes or until pudding is golden brown and puffed. Cut into squares.

Beat cream until soft peaks form. Do not overbeat. Combine horseradish, vinegar, mustard, sugar and salt in medium bowl. Fold whipped cream into horseradish mixture. Cover and refrigerate about 1 hour. Sauce may be made up to 8 hours before serving.