Manchego Cheese and Garlic Dogs

Name: Manchego Cheese and Garlic Dogs
Ingredients: 2 large heads of garlic, top ½ inch cut off; 5 teaspoons olive oil, divided; ½ cup diced drained roasted red peppers from jar; 1 tablespoon chopped fresh parsley; Kosher salt and freshly ground black pepper; 6 grilled hot dog buns or 2½-inch-wide pieces ciabatta or pain rustique, cut to length of hot dogs and split lengthwise; 6 grilled all-beef hot dogs; 2 ounces Manchego cheese, grated; Sherry wine vinegar or balsamic vinegar (for drizzling)