Preheat the oven to 500°F (260°C) and line a large rimmed baking sheet with foil.
Toss the whole red peppers with 1 tablespoon of the olive oil and season with 1/2 teaspoon salt and 1/4 teaspoon black pepper; place them on the prepared baking sheet.
Place the peeled garlic cloves in the center of a piece of foil, drizzle with the remaining 1 tablespoon olive oil, seal into a tight packet (seam up) and add the packet to the baking sheet.
Roast the peppers and garlic for 15–20 minutes, turning the peppers halfway, until the peppers are charred on all sides and garlic is soft.
Remove the garlic packet and transfer the hot peppers to a bowl; cover with plastic wrap and let steam for about 10 minutes to loosen the skins.
While the peppers steam, toast the almonds in a dry medium skillet over medium-low heat for 4–5 minutes, stirring every 30–60 seconds, until golden and fragrant; remove from heat.
When cool enough to handle, peel the peppers, remove stems and seeds, and squeeze the roasted garlic from its skins.
In a food processor, combine the peeled roasted peppers, toasted almonds, roasted garlic, lemon juice, smoked paprika, and any reserved garlic oil; pulse a few times, scrape down the bowl, then blend until the sauce is slightly creamy but still has texture. Taste and adjust seasoning with salt and pepper as needed.
Serve the romesco at room temperature, topped with chopped fresh cilantro if using.