Cook the edamame and garlic cloves in a large pot of boiling, salted water for 3 minutes. Reserve 3/4 cup cooking liquid, then drain edamame and garlic in a colander. Rinse under cold water until cool.
Purée the garlic, oil, and 2 cups of the edamame in a food processor until smooth. With motor running, add 1/2 cup of the reserved edamame-cooking liquid in a stream. Add the remaining 1 cup edamame, lime juice, honey, salt and pepper and pulse until slightly lumpy. Add remaining 1/4 cup cooking liquid to thin if desired.
Transfer to a small bowl, stir in cilantro and season with salt and pepper to taste. Makes about 2 cups.