Raise the back of your tongue to touch the soft palate. Add vocal cord vibration, then release.

Americans pronounce garlic as GAR-luhk (/ˈgɑrlək/). Stress falls on the first syllable — keep everything else short and quick. You'll hear it in sentences like "The recipe calls for two tablespoons of olive oil and minced garlic".
Record yourself saying "garlic" and play it back. The mic stays on your device — nothing's uploaded.
2 syllables, 5 sounds. Tap a syllable to jump to its row, then explore each sound's mouth shape and how it's made.
Place the tip of your tongue against the alveolar ridge just behind your top front teeth, the same contact point as /t/, /d/, and /n/. The difference is what happens to the air: for /l/, you let it flow continuously around the <em>sides</em> of the tongue (that's why /l/ is called a lateral). Turn your voice on the whole time. Lips stay relaxed, no rounding or flaring. For the Dark L variant at the end of a syllable, also pull the back of the tongue up and back toward the soft palate.

Relax your lips, jaw, and tongue completely. Drop your jaw slightly and keep the tongue neutral.
Raise the back of your tongue to touch the soft palate (velum). Stop the air, then release.

The textbook way isn't wrong — it's just not how anyone actually says it.
In "garlic", the "k" is not released — the articulators get into position but hold without the burst of air. Air stops but there's no release burst — the articulators hold position.
Stress falls on the first syllable, not the others. Stretch GAR — keep everything else short and quick.
Don't pronounce the first syllable too fully. The unstressed syllable reduces to a schwa — the lazy "uh" sound — in casual speech.
Americans use a relaxed retroflex R — the tongue curls back rather than rolling. The R is one continuous sound with the vowel before it, not two separate sounds.