That time is NOW for Baltimore ( I usually plant on Columbus day) that is how I remember when to plant my bulbs. You also must buy bulbs for a reputable seed catalog - do not plant bulbs you buy at the grocery store - those are most likely treated with some kind of chemical for preservation, and will not grow in a home garden.
Garlic only grows well in either temperate or warm temperate areas, so Baltimore is PERFECT!
Find a mostly sunny spot that has well draining soil - loamy soil is best - you can add peat moss to get this desired soil. Then plant the bulbs 6" apart from each other.
Mulch the ground around your garlic in the late fall, to prevent the bulb from being forced out of the soil (a process known as heaving). Make sure to move away the mulch when spring rolls around. - You can use fallen leaves for this - the decomposition of the leaves is great for your soil.
Although the warm temperatures will keep the bulb in a hibernating state for several weeks, it will begin to grow slowly during winter. The cold of winter is necessary to encourage the growth of the side buds which form the cloves of the garlic. They will form into those tasty cloves in the late spring or early summer.