In a large, heavy saucepan, cook garlic in butter over moderately low heat, stirring, until softened. Stir in flour and cook roux, stirring, 3 minutes. Remove pan from heat and whisk in milk mixture in a stream until smooth. Return pan to heat and simmer sauce, whisking occasionally, about 10 minutes, or until thick. Stir in squash and salt and pepper to taste. Sauce may be made 3 days ahead and chilled, its surface covered with plastic wrap.