Preheat the oven to 400°F. Peel each carrot and, if the stem is attached, trim the carrot tops, then give them a good scrub to remove any dirt around the top of the carrot. Set aside.

Combine the maple syrup, miso paste, soy sauce, vinegar, and black pepper in a small bowl. Whisk the miso mixture well to combine and dissolve the chunks of miso paste in the liquid.

Heat the oil in a large pan over medium-high heat. Add the carrots and cook, shaking and rotating the carrots often. Cook for about 4 minutes, or until the carrots have gotten some color. Remove from the heat and pour off any excess oil (there shouldn’t be much or any).

Pour the glaze over the carrots. Ensure that all the carrots are covered in the glaze. Place in the oven and roast carrots for 12-25 minutes depending on the size of carrots used. Start checking with a wooden toothpick at around 12 minutes if you used smaller carrots. If you like the carrots soft, cook until there is no resistance to the toothpick. For the sized carrots in this recipe, this takes 19-20 minutes. Remove the carrots and serve. Garnish with finely chopped parsley if desired.