Line a baking sheet with foil.
Layer the eggplant slices on prepared sheet and brush with olive oil and season with salt and pepper; set aside for 30 minutes.
Heat grill to medium high.
Place eggplant slices on grill and cook until slightly tender, about 2 to 3 minutes on each side.
Cook bacon in microwave for about 1 to 1-1/2 minutes, or cook in a frying pan until partially cooked but not crisp.
In a small bowl, combine goat cheese and minced garlic.
Remove eggplant from grill, top each with a slice of bacon and a teaspoon or two of cheese mixture.
Roll up the eggplant and secure with toothpick.
Return to grill, place seam side down, and cook for another 5 to 7 minutes, or until thoroughly warm and cooked.