Preheat oven to 400°.
To prepare salad, leave root and 1 inch of stem on beets; scrub with a vegetable brush. Peel and cut beets into 1/2-inch-thick wedges. Place beets on a jelly-roll pan. Drizzle with canola oil; toss well to coat. Bake at 400° for 45 minutes or until beets are tender, stirring every 20 minutes.
Trim the tough outer leaves from fennel; mince feathery fronds to measure 2 tablespoons. Remove and discard stalks. Cut fennel bulbs in half lengthwise; discard cores. Cut the bulbs into 1/4-inch slices. Combine fennel slices, endive, and next 4 ingredients (through pepper) in a large bowl; toss gently.
To prepare dressing, combine vinegar and remaining ingredients, stirring well with a whisk. Drizzle dressing mixture over fennel mixture. Add beets to bowl; toss to combine. Sprinkle with chopped fennel fronds. Serve immediately.