Boil water in a pot. Mince garlic. Cut bacon into small pieces.
Cook frozen Udon for a couple of minutes in boiling water. Keep Udon in the hot water until ready to use.
Meanwhile, in a frying pan, heat oil and garlic at medium heat, and cook bacon until browned. Add milk, cheese, salt, and strained Udon noodles, and cook for a minute. Remove from heat, add yolks, and mix well.