Peel off any wilted or discolor outer leaves from the radicchio. Cut each head in half vertically, then each half into quarter wedges. Trim off the hard white core. (If very large, you can cut the wedges in half lengthwise.) Then cut each wedge horizontally into strips, which can be either wide or thin as you prefer.
Taste a bit of the radicchio. If it's very bitter, soak the radicchio in acidulated water to cover for 30 minutes, then drain and pat dry.
In a large skillet, sauté the garlic over a gentle flame until it just begins to brown. Remove it.
Turn up the flame and add the radicchio. Sauté over a lively flame for5 minutes or so, until just tender, tossing from time to time and seasoning with salt and pepper as you go. The radicchio will have reduced considerably.
If you prefer your radicchio meltingly soft and milder in flavor, lower the heat to the barest flame, sprinkle a few spoonfuls of water over the radicchio and cover. Let the radicchio braise for another 10-15 minutes.
Serve still warm, if you like, with a drizzle of balsamic vinegar.