Gently squeeze soft garlic out of cloves, and press half of the garlic through a garlic press into 1-quart saucepan. Save remaining garlic for another use. Beat in Alfredo sauce and lemon peel with whisk; gently heat over medium-low heat 5 minutes, stirring frequently. Remove from heat; set aside. Toss chicken with half of the sauce. Serve warm with remaining sauce for dipping.