Rub roast evenly with garlic, salt, and pepper. Place roast in a lightly greased 13- x 9-inch pan. Arrange onion slices on and around roast. Cover pan tightly with aluminum foil, sealing edges.
Bake, covered, at 325° for 30 minutes. Remove from oven, and discard foil. Remove onions from pan, and set aside. Pour Honey-Peanut Glaze evenly over roast, and bake, uncovered, 20 more minutes or until a meat thermometer inserted in thickest portion registers 150°. Let roast stand 10 minutes before slicing. Serve with onion slices and pan juices.