Brush Worcestershire sauce over roast (do not trim fat); sprinkle with salt and pepper. Place roast, fat side up, on a rack coated with cooking spray; place rack in a roasting pan. Arrange onion and carrots on rack around roast. Insert meat thermometer into thickest portion of roast. Bake at 325° for 1 1/2 hours or until thermometer registers 130° (rare) to 160° (medium). Place roast on a serving platter; cover with aluminum foil. Set roasted vegetables aside.
Reserve 1 tablespoon drippings from pan for Yorkshire Pudding; set aside. Wipe remaining drippings from pan with paper towels, leaving browned bits on bottom of pan. Add roasted vegetables, water, and broth to pan; bring to a boil over medium-high heat, scraping bottom of pan with a wooden spoon to loosen browned bits. Cook 15 minutes or until broth is reduced to 1 cup. Remove from heat; discard vegetables.
Slice the roast thinly; serve with broth and Yorkshire Pudding.