Spray a baking sheet with non-stick cooking spray or line it with parchment paper.
Peel the carrots and slice them in half if they are large. Place on the baking sheet.
Add olive oil and toss to coat the carrots. Add salt and pepper to taste.
Roast for 20-45 minutes depending on the size of your carrots. Larger carrots will take longer to cook. Begin checking the carrots at 20 minutes by piercing them with a fork. You want them tender but still crisp.
While the carrots are roasting make the lemon vinaigrette by combining all of the ingredients in a small bowl and whisking until everything is combined.
Drizzle the vinaigrette over the carrots and serve immediately.