Preheat oven to 400°.
Combine first 5 ingredients in a bowl; toss. Arrange vegetables in a single layer in a shallow roasting pan coated with cooking spray. Bake at 400° for 45 minutes; stir twice.
Combine sugar and remaining ingredients in a small saucepan; bring to a boil. Reduce heat; simmer 1 minute. Pour over vegetables; toss gently. Bake an additional 15 minutes or until vegetables are tender.