Preheat oven to 400°.
To prepare vegetables, place carrot in a microwave-safe bowl, and microwave at high 2 minutes. Combine carrot and next 6 ingredients (carrot through 1/8 teaspoon black pepper); toss well to coat. Set aside.
To prepare roast, combine the rosemary, 1/2 teaspoon kosher salt, coarsely ground black pepper, and garlic. Trim fat from roast, and rub top of roast with rosemary mixture. Place roast on a broiler pan coated with cooking spray. Insert a meat thermometer into thickest portion of roast. Arrange the vegetables around roast. Bake at 400° for 1 hour or until the meat thermometer registers 145° (medium-rare) to 160° (medium). Place roast on a platter; cover with foil. Let stand 15 minutes.
To prepare glaze, combine mustard and honey. Drizzle over vegetables, and toss gently. Bake at 400° for 10 minutes.