Heat a pan with oil. Add the garlic, lightly toast but be careful not to burn them. Remove from the heat, set the garlic aside. Save the infused oil and set aside.
In a food processor, add toasted garlic, Dijon mustard, cilantro, orange juice, rice vinegar, red pepper flakes, and salt. Process until finely chopped. Turn the food processor on low, slowly pour the oil into the feed hole, process until smooth.