Remove discolored leaves from brussels sprouts. Cut off stem ends; cut in half lengthwise.
Place brussels sprouts and carrots in a large roasting pan. Combine olive oil and next 4 ingredients; pour over vegetables, tossing to coat.
Cover and bake at 425° for 20 minutes. Uncover and bake 25 minutes or until tender.
Stir together jelly and 2 tablespoons hot water; pour over vegetables, tossing to coat. Serve immediately.