Heat olive oil in small saucepan over medium heat. Add the garlic and rosemary sprigs and cook, stirring constantly, until garlic is fragrant and lightly browned.
Remove from the heat and let cool to room temperature. Strain into a measuring cup and set aside, discarding the garlic and rosemary.
Combine the beans, ½ cup of the infused oil, Parmesan cheese, and lemon juice in a food processor or blender and puree until smooth. Add more oil 1 tablespoon at a time, if needed for a smoother consistency. Season to taste with salt and pepper.
Spoon dip into a serving dish and drizzle about 1 tablespoon of the remaining oil on top and garnish with chopped rosemary. Serve with focaccia or other rustic bread.