POUR milk over garlic; let stand 30 min. Drain; rinse and pat dry. Heat soybean oil in medium skillet to 275ºF. Add garlic, in small batches; cook until lightly browned, stirring frequently. Drain on paper towels. Set aside.
CUT each head of romaine and radicchio lengthwise in half; brush with vegetable oil. Season with salt and pepper. Grill just until lightly charred and slightly wilted, turning as needed. Remove from heat. Reserve half the romaine for garnish.
CHOP the radicchio and remaining romaine coarsely; place in large bowl. Add dressing, lemon pieces and garlic chips; mix lightly.
FOR each serving: Place 1/2 head of romaine on one side of serving plate. Spoon about 2 cups of salad onto other side of plate. Garnish with 3 slices pancetta, 4 croutons and 1 Tbsp. of each cheese.